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       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Frame_ID</th>\n",
       "      <th>Total_Frames</th>\n",
       "      <th>Global_Time</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Global_X</th>\n",
       "      <th>Global_Y</th>\n",
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       "      <th>...</th>\n",
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       "      <th>Lane_ID</th>\n",
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       "      <td>1118847869200</td>\n",
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       "      <td>5</td>\n",
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       "      <td>0.101</td>\n",
       "      <td>1.01</td>\n",
       "      <td>1.986945</td>\n",
       "      <td>19.869447</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1</td>\n",
       "      <td>274</td>\n",
       "      <td>569</td>\n",
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       "      <td>51.234</td>\n",
       "      <td>120.838802</td>\n",
       "      <td>6451141.961</td>\n",
       "      <td>1873288.133</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
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       "      <td>19.984578</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1</td>\n",
       "      <td>275</td>\n",
       "      <td>569</td>\n",
       "      <td>1118847869500</td>\n",
       "      <td>51.230</td>\n",
       "      <td>122.800244</td>\n",
       "      <td>6451143.298</td>\n",
       "      <td>1873286.650</td>\n",
       "      <td>47.0</td>\n",
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       "      <td>...</td>\n",
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       "    <tr>\n",
       "      <th>1047037</th>\n",
       "      <td>1914</td>\n",
       "      <td>7369</td>\n",
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       "      <td>1118848578900</td>\n",
       "      <td>6.751</td>\n",
       "      <td>949.589384</td>\n",
       "      <td>6451781.160</td>\n",
       "      <td>1872752.182</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>0.012011</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>35.13</td>\n",
       "      <td>2.36</td>\n",
       "      <td>0.009</td>\n",
       "      <td>0.09</td>\n",
       "      <td>1.495143</td>\n",
       "      <td>14.951429</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047038</th>\n",
       "      <td>1914</td>\n",
       "      <td>7370</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579000</td>\n",
       "      <td>6.763</td>\n",
       "      <td>951.082391</td>\n",
       "      <td>6451782.284</td>\n",
       "      <td>1872751.189</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
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       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.97</td>\n",
       "      <td>2.34</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.493007</td>\n",
       "      <td>14.930065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047039</th>\n",
       "      <td>1914</td>\n",
       "      <td>7371</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579100</td>\n",
       "      <td>6.777</td>\n",
       "      <td>952.573760</td>\n",
       "      <td>6451783.407</td>\n",
       "      <td>1872750.195</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
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       "      <td>1909</td>\n",
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       "      <td>1914</td>\n",
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       "      <td>923</td>\n",
       "      <td>1118848579200</td>\n",
       "      <td>6.789</td>\n",
       "      <td>954.071356</td>\n",
       "      <td>6451784.531</td>\n",
       "      <td>1872749.202</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
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       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.66</td>\n",
       "      <td>2.31</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.497596</td>\n",
       "      <td>14.975964</td>\n",
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       "    <tr>\n",
       "      <th>1047041</th>\n",
       "      <td>1914</td>\n",
       "      <td>7373</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579300</td>\n",
       "      <td>6.801</td>\n",
       "      <td>955.572000</td>\n",
       "      <td>6451785.655</td>\n",
       "      <td>1872748.209</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.49</td>\n",
       "      <td>2.30</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.500644</td>\n",
       "      <td>15.006441</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>1047042 rows × 22 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "         Vehicle_ID  Frame_ID  Total_Frames    Global_Time  Local_X  \\\n",
       "0                 1       271           569  1118847869100   51.153   \n",
       "1                 1       272           569  1118847869200   51.143   \n",
       "2                 1       273           569  1118847869300   51.244   \n",
       "3                 1       274           569  1118847869400   51.234   \n",
       "4                 1       275           569  1118847869500   51.230   \n",
       "...             ...       ...           ...            ...      ...   \n",
       "1047037        1914      7369           923  1118848578900    6.751   \n",
       "1047038        1914      7370           923  1118848579000    6.763   \n",
       "1047039        1914      7371           923  1118848579100    6.777   \n",
       "1047040        1914      7372           923  1118848579200    6.789   \n",
       "1047041        1914      7373           923  1118848579300    6.801   \n",
       "\n",
       "            Local_Y     Global_X     Global_Y  v_Length  v_Width  ...  \\\n",
       "0        114.878000  6451138.053  1873292.603      47.0      8.5  ...   \n",
       "1        116.853399  6451139.397  1873291.122      47.0      8.5  ...   \n",
       "2        118.840344  6451140.617  1873289.614      47.0      8.5  ...   \n",
       "3        120.838802  6451141.961  1873288.133      47.0      8.5  ...   \n",
       "4        122.800244  6451143.298  1873286.650      47.0      8.5  ...   \n",
       "...             ...          ...          ...       ...      ...  ...   \n",
       "1047037  949.589384  6451781.160  1872752.182      16.5      6.4  ...   \n",
       "1047038  951.082391  6451782.284  1872751.189      16.5      6.4  ...   \n",
       "1047039  952.573760  6451783.407  1872750.195      16.5      6.4  ...   \n",
       "1047040  954.071356  6451784.531  1872749.202      16.5      6.4  ...   \n",
       "1047041  955.572000  6451785.655  1872748.209      16.5      6.4  ...   \n",
       "\n",
       "            v_Acc  Lane_ID  Preceeding  Following  Space_Hdwy  Time_Hdwy  \\\n",
       "0        0.000000        5           0          0        0.00       0.00   \n",
       "1        0.196990        5           0          0        0.00       0.00   \n",
       "2        0.246158        5           0          0        0.00       0.00   \n",
       "3       -0.927490        5           0          0        0.00       0.00   \n",
       "4       -1.977558        5           0          0        0.00       0.00   \n",
       "...           ...      ...         ...        ...         ...        ...   \n",
       "1047037  0.012011        1        1909       1917       35.13       2.36   \n",
       "1047038  0.081872        1        1909       1917       34.97       2.34   \n",
       "1047039  0.263743        1        1909       1917       34.82       2.32   \n",
       "1047040  0.109495        1        1909       1917       34.66       2.31   \n",
       "1047041  0.000000        1        1909       1917       34.49       2.30   \n",
       "\n",
       "             x   x_a         y        y_v  \n",
       "0       -0.011 -0.11  2.000000  20.000000  \n",
       "1       -0.010 -0.10  1.975399  19.753991  \n",
       "2        0.101  1.01  1.986945  19.869447  \n",
       "3       -0.010 -0.10  1.998458  19.984578  \n",
       "4       -0.004 -0.04  1.961442  19.614421  \n",
       "...        ...   ...       ...        ...  \n",
       "1047037  0.009  0.09  1.495143  14.951429  \n",
       "1047038  0.012  0.12  1.493007  14.930065  \n",
       "1047039  0.014  0.14  1.491369  14.913686  \n",
       "1047040  0.012  0.12  1.497596  14.975964  \n",
       "1047041  0.012  0.12  1.500644  15.006441  \n",
       "\n",
       "[1047042 rows x 22 columns]"
      ]
     },
     "execution_count": 1,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import pandas as pd\n",
    "f = pd.read_csv(\"./data/tempfile.csv\")\n",
    "f"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "c1f5fd11-7ce7-40b4-abbd-051a87eebe47",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " 1123,\n",
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       " 1125,\n",
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       " 1140,\n",
       " 1143,\n",
       " 1144,\n",
       " ...]"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Vehicle_ID=f['Vehicle_ID']\n",
    "Vehicle_ID_LIST=[]                                  #存储车辆编号，共1553个\n",
    "for i in range(len(f)):\n",
    "    if Vehicle_ID[i] not in Vehicle_ID_LIST:\n",
    "        Vehicle_ID_LIST.append(Vehicle_ID[i])\n",
    "Vehicle_ID_LIST"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "ee349113-0366-4307-82b2-d33e5eb60003",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1533"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(Vehicle_ID_LIST)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "9e2c720f-eb12-477d-bccb-8c13b8fd67c7",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
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       "      <th>0</th>\n",
       "      <td>1</td>\n",
       "      <td>51.153</td>\n",
       "      <td>114.878000</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.011</td>\n",
       "      <td>-0.11</td>\n",
       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
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       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1</td>\n",
       "      <td>51.143</td>\n",
       "      <td>116.853399</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.010</td>\n",
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       "      <td>1.975399</td>\n",
       "      <td>19.753991</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1</td>\n",
       "      <td>51.244</td>\n",
       "      <td>118.840344</td>\n",
       "      <td>5</td>\n",
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       "      <td>1.986945</td>\n",
       "      <td>19.869447</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1</td>\n",
       "      <td>51.234</td>\n",
       "      <td>120.838802</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.010</td>\n",
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       "      <td>1.998458</td>\n",
       "      <td>19.984578</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1</td>\n",
       "      <td>51.230</td>\n",
       "      <td>122.800244</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.004</td>\n",
       "      <td>-0.04</td>\n",
       "      <td>1.961442</td>\n",
       "      <td>19.614421</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047037</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.751</td>\n",
       "      <td>949.589384</td>\n",
       "      <td>1</td>\n",
       "      <td>0.009</td>\n",
       "      <td>0.09</td>\n",
       "      <td>1.495143</td>\n",
       "      <td>14.951429</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047038</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.763</td>\n",
       "      <td>951.082391</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.493007</td>\n",
       "      <td>14.930065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047039</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.777</td>\n",
       "      <td>952.573760</td>\n",
       "      <td>1</td>\n",
       "      <td>0.014</td>\n",
       "      <td>0.14</td>\n",
       "      <td>1.491369</td>\n",
       "      <td>14.913686</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047040</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.789</td>\n",
       "      <td>954.071356</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.497596</td>\n",
       "      <td>14.975964</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047041</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.801</td>\n",
       "      <td>955.572000</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.500644</td>\n",
       "      <td>15.006441</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>1047042 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "         Vehicle_ID  Local_X     Local_Y  Lane_ID      x   x_a         y  \\\n",
       "0                 1   51.153  114.878000        5 -0.011 -0.11  2.000000   \n",
       "1                 1   51.143  116.853399        5 -0.010 -0.10  1.975399   \n",
       "2                 1   51.244  118.840344        5  0.101  1.01  1.986945   \n",
       "3                 1   51.234  120.838802        5 -0.010 -0.10  1.998458   \n",
       "4                 1   51.230  122.800244        5 -0.004 -0.04  1.961442   \n",
       "...             ...      ...         ...      ...    ...   ...       ...   \n",
       "1047037        1914    6.751  949.589384        1  0.009  0.09  1.495143   \n",
       "1047038        1914    6.763  951.082391        1  0.012  0.12  1.493007   \n",
       "1047039        1914    6.777  952.573760        1  0.014  0.14  1.491369   \n",
       "1047040        1914    6.789  954.071356        1  0.012  0.12  1.497596   \n",
       "1047041        1914    6.801  955.572000        1  0.012  0.12  1.500644   \n",
       "\n",
       "               y_v  \n",
       "0        20.000000  \n",
       "1        19.753991  \n",
       "2        19.869447  \n",
       "3        19.984578  \n",
       "4        19.614421  \n",
       "...            ...  \n",
       "1047037  14.951429  \n",
       "1047038  14.930065  \n",
       "1047039  14.913686  \n",
       "1047040  14.975964  \n",
       "1047041  15.006441  \n",
       "\n",
       "[1047042 rows x 8 columns]"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ID=f[['Vehicle_ID','Local_X','Local_Y','Lane_ID','x','x_a','y','y_v']]\n",
    "ID"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "76ff0616-36ec-44b2-a23b-940c1098f6ac",
   "metadata": {},
   "outputs": [],
   "source": [
    "change_vehicle_id=[]        #存储了发生变道的车辆ID\n",
    "change_vehicle_row=[]       #存储了发生变道车辆的行号（索引），每个车辆变道的时刻会存储两个行号，分别是变道前和变道后的行号\n",
    "\n",
    "TR_row=[]                   #存储了向右变道车辆的索引\n",
    "TL_row=[]                   #存储了向左变道车辆的索引\n",
    "TR_vehicle_id=[]            #存储了向右变道的车辆\n",
    "TL_vehicle_id=[]            #存储了向左变道的车辆\n",
    "for i in range(len(f)):\n",
    "    if i==0:\n",
    "        continue\n",
    "    else:\n",
    "        if ID['Vehicle_ID'][i]==ID['Vehicle_ID'][i-1] and ID['Lane_ID'][i]!=ID['Lane_ID'][i-1]:\n",
    "            if ID['Vehicle_ID'][i] not in change_vehicle_id:\n",
    "                change_vehicle_id.append(ID['Vehicle_ID'][i])\n",
    "#             change_vehicle_row40.extend(a for a in range(i-39:i-1))\n",
    "            change_vehicle_row.append(i-1)\n",
    "            change_vehicle_row.append(i)\n",
    "        if ID['Vehicle_ID'][i]==ID['Vehicle_ID'][i-1] and ID['Lane_ID'][i]==ID['Lane_ID'][i-1]+1:\n",
    "            if ID['Vehicle_ID'][i] not in TR_vehicle_id:\n",
    "                TR_vehicle_id.append(ID['Vehicle_ID'][i])\n",
    "            TR_row.append(i-1)\n",
    "            TR_row.append(i)\n",
    "        if ID['Vehicle_ID'][i]==ID['Vehicle_ID'][i-1] and ID['Lane_ID'][i]==ID['Lane_ID'][i-1]-1:\n",
    "            if ID['Vehicle_ID'][i] not in TL_vehicle_id:\n",
    "                TL_vehicle_id.append(ID['Vehicle_ID'][i])\n",
    "            TL_row.append(i-1)\n",
    "            TL_row.append(i)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "1ff93d6b-a3bd-4f87-8fdc-819953170ba7",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "368"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(change_vehicle_id)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "d9c25fcf-0846-4523-8f3a-f57397ec3313",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1418"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(change_vehicle_row)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 67,
   "id": "f641ffc2-9e9e-4af4-9e8d-1267af9061af",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "709.0"
      ]
     },
     "execution_count": 67,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(change_vehicle_row)/2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 68,
   "id": "4473dcf7-78d3-4bab-8d4b-804008ededa3",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "126"
      ]
     },
     "execution_count": 68,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(TR_vehicle_id)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 69,
   "id": "99bfc4e2-9cee-4280-ab39-366fea52ecf3",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "273"
      ]
     },
     "execution_count": 69,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(TL_vehicle_id)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "0f458436-285d-4e49-a077-8d1ceef46d3a",
   "metadata": {},
   "outputs": [],
   "source": [
    "LK_list=[]                                                     #存储直行（未变道）车辆的唯一ID\n",
    "for i in Vehicle_ID_LIST:\n",
    "    if i not in change_vehicle_id:\n",
    "        LK_list.append(i)\n",
    "LK_ID40=f[f.Vehicle_ID.isin(LK_list)]\n",
    "LK_ID40=LK_ID40[LK_ID40.Lane_ID.isin([1,2,3,4,5])]\n",
    "LK_ID40['label']=0\n",
    "LK_ID40=LK_ID40.reset_index(drop=True)                         #存储直行车辆数据，车道1-5，label=0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "2dafa018-fc87-47c1-8737-b61b7fdda700",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
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       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Frame_ID</th>\n",
       "      <th>Total_Frames</th>\n",
       "      <th>Global_Time</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Global_X</th>\n",
       "      <th>Global_Y</th>\n",
       "      <th>v_Length</th>\n",
       "      <th>v_Width</th>\n",
       "      <th>...</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>Preceeding</th>\n",
       "      <th>Following</th>\n",
       "      <th>Space_Hdwy</th>\n",
       "      <th>Time_Hdwy</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
       "      <th>label</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
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       "      <td>51.153</td>\n",
       "      <td>114.878000</td>\n",
       "      <td>6451138.053</td>\n",
       "      <td>1873292.603</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
       "      <td>...</td>\n",
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       "      <td>-0.11</td>\n",
       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
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       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>1</td>\n",
       "      <td>272</td>\n",
       "      <td>569</td>\n",
       "      <td>1118847869200</td>\n",
       "      <td>51.143</td>\n",
       "      <td>116.853399</td>\n",
       "      <td>6451139.397</td>\n",
       "      <td>1873291.122</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
       "      <td>...</td>\n",
       "      <td>5</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
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       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>1.975399</td>\n",
       "      <td>19.753991</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1</td>\n",
       "      <td>273</td>\n",
       "      <td>569</td>\n",
       "      <td>1118847869300</td>\n",
       "      <td>51.244</td>\n",
       "      <td>118.840344</td>\n",
       "      <td>6451140.617</td>\n",
       "      <td>1873289.614</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
       "      <td>...</td>\n",
       "      <td>5</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.101</td>\n",
       "      <td>1.01</td>\n",
       "      <td>1.986945</td>\n",
       "      <td>19.869447</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>1</td>\n",
       "      <td>274</td>\n",
       "      <td>569</td>\n",
       "      <td>1118847869400</td>\n",
       "      <td>51.234</td>\n",
       "      <td>120.838802</td>\n",
       "      <td>6451141.961</td>\n",
       "      <td>1873288.133</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
       "      <td>...</td>\n",
       "      <td>5</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "      <td>0.0</td>\n",
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       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>1.998458</td>\n",
       "      <td>19.984578</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1</td>\n",
       "      <td>275</td>\n",
       "      <td>569</td>\n",
       "      <td>1118847869500</td>\n",
       "      <td>51.230</td>\n",
       "      <td>122.800244</td>\n",
       "      <td>6451143.298</td>\n",
       "      <td>1873286.650</td>\n",
       "      <td>47.0</td>\n",
       "      <td>8.5</td>\n",
       "      <td>...</td>\n",
       "      <td>5</td>\n",
       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>-0.004</td>\n",
       "      <td>-0.04</td>\n",
       "      <td>1.961442</td>\n",
       "      <td>19.614421</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
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       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>837946</th>\n",
       "      <td>1909</td>\n",
       "      <td>7829</td>\n",
       "      <td>939</td>\n",
       "      <td>1118848624900</td>\n",
       "      <td>9.595</td>\n",
       "      <td>2152.936529</td>\n",
       "      <td>6452690.180</td>\n",
       "      <td>1871963.273</td>\n",
       "      <td>10.0</td>\n",
       "      <td>5.5</td>\n",
       "      <td>...</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "      <td>1914</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.019</td>\n",
       "      <td>0.19</td>\n",
       "      <td>4.001575</td>\n",
       "      <td>40.015755</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>837947</th>\n",
       "      <td>1909</td>\n",
       "      <td>7830</td>\n",
       "      <td>939</td>\n",
       "      <td>1118848625000</td>\n",
       "      <td>9.532</td>\n",
       "      <td>2156.947084</td>\n",
       "      <td>6452693.356</td>\n",
       "      <td>1871960.823</td>\n",
       "      <td>10.0</td>\n",
       "      <td>5.5</td>\n",
       "      <td>...</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "      <td>1914</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>-0.063</td>\n",
       "      <td>-0.63</td>\n",
       "      <td>4.010555</td>\n",
       "      <td>40.105549</td>\n",
       "      <td>0</td>\n",
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       "    <tr>\n",
       "      <th>837948</th>\n",
       "      <td>1909</td>\n",
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       "      <td>2160.976761</td>\n",
       "      <td>6452696.458</td>\n",
       "      <td>1871958.315</td>\n",
       "      <td>10.0</td>\n",
       "      <td>5.5</td>\n",
       "      <td>...</td>\n",
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       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.028</td>\n",
       "      <td>0.28</td>\n",
       "      <td>4.029677</td>\n",
       "      <td>40.296773</td>\n",
       "      <td>0</td>\n",
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       "    <tr>\n",
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       "      <td>1909</td>\n",
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       "      <td>939</td>\n",
       "      <td>1118848625200</td>\n",
       "      <td>9.057</td>\n",
       "      <td>2165.050344</td>\n",
       "      <td>6452699.899</td>\n",
       "      <td>1871956.215</td>\n",
       "      <td>10.0</td>\n",
       "      <td>5.5</td>\n",
       "      <td>...</td>\n",
       "      <td>1</td>\n",
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       "      <td>1914</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>-0.503</td>\n",
       "      <td>-5.03</td>\n",
       "      <td>4.073582</td>\n",
       "      <td>40.735824</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>837950</th>\n",
       "      <td>1909</td>\n",
       "      <td>7833</td>\n",
       "      <td>939</td>\n",
       "      <td>1118848625300</td>\n",
       "      <td>9.054</td>\n",
       "      <td>2169.389000</td>\n",
       "      <td>6452703.420</td>\n",
       "      <td>1871953.413</td>\n",
       "      <td>10.0</td>\n",
       "      <td>5.5</td>\n",
       "      <td>...</td>\n",
       "      <td>1</td>\n",
       "      <td>0</td>\n",
       "      <td>1914</td>\n",
       "      <td>0.0</td>\n",
       "      <td>0.0</td>\n",
       "      <td>-0.003</td>\n",
       "      <td>-0.03</td>\n",
       "      <td>4.338656</td>\n",
       "      <td>43.386562</td>\n",
       "      <td>0</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>837951 rows × 23 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "        Vehicle_ID  Frame_ID  Total_Frames    Global_Time  Local_X  \\\n",
       "0                1       271           569  1118847869100   51.153   \n",
       "1                1       272           569  1118847869200   51.143   \n",
       "2                1       273           569  1118847869300   51.244   \n",
       "3                1       274           569  1118847869400   51.234   \n",
       "4                1       275           569  1118847869500   51.230   \n",
       "...            ...       ...           ...            ...      ...   \n",
       "837946        1909      7829           939  1118848624900    9.595   \n",
       "837947        1909      7830           939  1118848625000    9.532   \n",
       "837948        1909      7831           939  1118848625100    9.560   \n",
       "837949        1909      7832           939  1118848625200    9.057   \n",
       "837950        1909      7833           939  1118848625300    9.054   \n",
       "\n",
       "            Local_Y     Global_X     Global_Y  v_Length  v_Width  ...  \\\n",
       "0        114.878000  6451138.053  1873292.603      47.0      8.5  ...   \n",
       "1        116.853399  6451139.397  1873291.122      47.0      8.5  ...   \n",
       "2        118.840344  6451140.617  1873289.614      47.0      8.5  ...   \n",
       "3        120.838802  6451141.961  1873288.133      47.0      8.5  ...   \n",
       "4        122.800244  6451143.298  1873286.650      47.0      8.5  ...   \n",
       "...             ...          ...          ...       ...      ...  ...   \n",
       "837946  2152.936529  6452690.180  1871963.273      10.0      5.5  ...   \n",
       "837947  2156.947084  6452693.356  1871960.823      10.0      5.5  ...   \n",
       "837948  2160.976761  6452696.458  1871958.315      10.0      5.5  ...   \n",
       "837949  2165.050344  6452699.899  1871956.215      10.0      5.5  ...   \n",
       "837950  2169.389000  6452703.420  1871953.413      10.0      5.5  ...   \n",
       "\n",
       "        Lane_ID  Preceeding  Following  Space_Hdwy  Time_Hdwy      x   x_a  \\\n",
       "0             5           0          0         0.0        0.0 -0.011 -0.11   \n",
       "1             5           0          0         0.0        0.0 -0.010 -0.10   \n",
       "2             5           0          0         0.0        0.0  0.101  1.01   \n",
       "3             5           0          0         0.0        0.0 -0.010 -0.10   \n",
       "4             5           0          0         0.0        0.0 -0.004 -0.04   \n",
       "...         ...         ...        ...         ...        ...    ...   ...   \n",
       "837946        1           0       1914         0.0        0.0  0.019  0.19   \n",
       "837947        1           0       1914         0.0        0.0 -0.063 -0.63   \n",
       "837948        1           0       1914         0.0        0.0  0.028  0.28   \n",
       "837949        1           0       1914         0.0        0.0 -0.503 -5.03   \n",
       "837950        1           0       1914         0.0        0.0 -0.003 -0.03   \n",
       "\n",
       "               y        y_v  label  \n",
       "0       2.000000  20.000000      0  \n",
       "1       1.975399  19.753991      0  \n",
       "2       1.986945  19.869447      0  \n",
       "3       1.998458  19.984578      0  \n",
       "4       1.961442  19.614421      0  \n",
       "...          ...        ...    ...  \n",
       "837946  4.001575  40.015755      0  \n",
       "837947  4.010555  40.105549      0  \n",
       "837948  4.029677  40.296773      0  \n",
       "837949  4.073582  40.735824      0  \n",
       "837950  4.338656  43.386562      0  \n",
       "\n",
       "[837951 rows x 23 columns]"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "LK_ID40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "6be10689-68de-4e09-8f0c-a19c4503127b",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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820225, 820226, 820227, 820228, 820229, 820230, 820231, 820232, 820233, 820234, 820235, 820236, 820237, 821891, 821892, 821893, 821894, 821895, 821896, 821897, 821898, 821899, 821900, 821901, 821902, 821903, 821904, 821905, 821906, 821907, 821908, 821909, 821910, 821911, 821912, 821913, 821914, 821915, 821916, 821917, 821918, 821919, 821920, 821921, 821922, 821923, 821924, 821925, 821926, 821927, 821928, 821929, 821930, 822418, 822419, 822420, 822421, 822422, 822423, 822424, 822425, 822426, 822427, 822428, 822429, 822430, 822431, 822432, 822433, 822434, 822435, 822436, 822437, 822438, 822439, 822440, 822441, 822442, 822443, 822444, 822445, 822446, 822447, 822448, 822449, 822450, 822451, 822452, 822453, 822454, 822455, 822456, 822457, 823677, 823678, 823679, 823680, 823681, 823682, 823683, 823684, 823685, 823686, 823687, 823688, 823689, 823690, 823691, 823692, 823693, 823694, 823695, 823696, 823697, 823698, 823699, 823700, 823701, 823702, 823703, 823704, 823705, 823706, 823707, 823708, 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825973, 825974, 825975, 826821, 826822, 826823, 826824, 826825, 826826, 826827, 826828, 826829, 826830, 826831, 826832, 826833, 826834, 826835, 826836, 826837, 826838, 826839, 826840, 826841, 826842, 826843, 826844, 826845, 826846, 826847, 826848, 826849, 826850, 826851, 826852, 826853, 826854, 826855, 826856, 826857, 826858, 826859, 826860, 827752, 827753, 827754, 827755, 827756, 827757, 827758, 827759, 827760, 827761, 827762, 827763, 827764, 827765, 827766, 827767, 827768, 827769, 827770, 827771, 827772, 827773, 827774, 827775, 827776, 827777, 827778, 827779, 827780, 827781, 827782, 827783, 827784, 827785, 827786, 827787, 827788, 827789, 827790, 827791, 828649, 828650, 828651, 828652, 828653, 828654, 828655, 828656, 828657, 828658, 828659, 828660, 828661, 828662, 828663, 828664, 828665, 828666, 828667, 828668, 828669, 828670, 828671, 828672, 828673, 828674, 828675, 828676, 828677, 828678, 828679, 828680, 828681, 828682, 828683, 828684, 828685, 828686, 828687, 828688, 829687, 829688, 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832702, 832703, 832704, 832705, 832706, 832707, 832708, 832709, 832710, 832711, 832712, 832713, 832714, 832715, 832716, 832717, 832718, 832719, 832720, 832721, 832722, 832723, 832724, 832725, 832726, 832727, 832728, 832729, 832730, 832731, 832732, 832733, 832734, 833735, 833736, 833737, 833738, 833739, 833740, 833741, 833742, 833743, 833744, 833745, 833746, 833747, 833748, 833749, 833750, 833751, 833752, 833753, 833754, 833755, 833756, 833757, 833758, 833759, 833760, 833761, 833762, 833763, 833764, 833765, 833766, 833767, 833768, 833769, 833770, 833771, 833772, 833773, 833774, 834678, 834679, 834680, 834681, 834682, 834683, 834684, 834685, 834686, 834687, 834688, 834689, 834690, 834691, 834692, 834693, 834694, 834695, 834696, 834697, 834698, 834699, 834700, 834701, 834702, 834703, 834704, 834705, 834706, 834707, 834708, 834709, 834710, 834711, 834712, 834713, 834714, 834715, 834716, 834717, 835823, 835824, 835825, 835826, 835827, 835828, 835829, 835830, 835831, 835832, 835833, 835834, 835835, 835836, 835837, 835838, 835839, 835840, 835841, 835842, 835843, 835844, 835845, 835846, 835847, 835848, 835849, 835850, 835851, 835852, 835853, 835854, 835855, 835856, 835857, 835858, 835859, 835860, 835861, 835862, 836677, 836678, 836679, 836680, 836681, 836682, 836683, 836684, 836685, 836686, 836687, 836688, 836689, 836690, 836691, 836692, 836693, 836694, 836695, 836696, 836697, 836698, 836699, 836700, 836701, 836702, 836703, 836704, 836705, 836706, 836707, 836708, 836709, 836710, 836711, 836712, 836713, 836714, 836715, 836716, 837560, 837561, 837562, 837563, 837564, 837565, 837566, 837567, 837568, 837569, 837570, 837571, 837572, 837573, 837574, 837575, 837576, 837577, 837578, 837579, 837580, 837581, 837582, 837583, 837584, 837585, 837586, 837587, 837588, 837589, 837590, 837591, 837592, 837593, 837594, 837595, 837596, 837597, 837598, 837599]\n"
     ]
    }
   ],
   "source": [
    "import random\n",
    "keep_lane_row=[]                     #存储连续40帧直行的车辆索引\n",
    "for i in LK_list:\n",
    "    one_ve_info=LK_ID40[LK_ID40.Vehicle_ID.isin([i])]\n",
    "    total_frames=len(one_ve_info)\n",
    "    if total_frames>=40:\n",
    "        start_frame=random.randint(40,total_frames)-40\n",
    "        end_frame=start_frame+40\n",
    "        one_ve_index=one_ve_info.iloc[start_frame:end_frame,:].index\n",
    "        keep_lane_row.extend(one_ve_index)\n",
    "print(keep_lane_row)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "17432b05-e496-4911-a20d-dc967d18a725",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "46600"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(keep_lane_row)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "f4c5a634-3775-4e46-b7dc-366bb9f3c84f",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "41"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "random.randint(0,50)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "id": "15911cb6-d56f-44dd-887f-12795a78066d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1165.0"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(keep_lane_row)/40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "id": "6a4861e4-f55a-403b-bda9-ee57d3899816",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " 1178,\n",
       " 1179,\n",
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       " 15912,\n",
       " 15913,\n",
       " 15914,\n",
       " 15915,\n",
       " 15916,\n",
       " 15917,\n",
       " 15918,\n",
       " 15919,\n",
       " 15920,\n",
       " 15921,\n",
       " 15922,\n",
       " 15923,\n",
       " 15924,\n",
       " 15925,\n",
       " 15926,\n",
       " 15927,\n",
       " 15928,\n",
       " 15929,\n",
       " 15930,\n",
       " 15931,\n",
       " 15932,\n",
       " 15933,\n",
       " 15934,\n",
       " 15935,\n",
       " 15936,\n",
       " 15937,\n",
       " 15938,\n",
       " 15939,\n",
       " 15940,\n",
       " 15941,\n",
       " 15942,\n",
       " 15943,\n",
       " 15944,\n",
       " 15945,\n",
       " 15946,\n",
       " ...]"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "KL_list=list(set(list(LK_ID40.Vehicle_ID)))   #存储了DataFrame'LK_ID40'中唯一的车辆ID\n",
    "lk_40=[]\n",
    "Vehicle_ID40=[]\n",
    "for i in range(len(LK_ID40)):\n",
    "    if i <= 40:\n",
    "        continue\n",
    "    else:\n",
    "        if LK_ID40['Vehicle_ID'][i]!=LK_ID40['Vehicle_ID'][i-1] and LK_ID40['Vehicle_ID'][i-1]==LK_ID40['Vehicle_ID'][i-40] :\n",
    "            lk_40.extend(a for a in range(i-40,i))\n",
    "lk_40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "d86cbd89-14d1-4e7b-b755-9f4358343987",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "46560"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(lk_40)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "id": "44aca536-9d6a-471f-8f67-782110b363e5",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1164.0"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(lk_40)/40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "id": "57c78340-6251-41c2-8910-f66bb148ee17",
   "metadata": {},
   "outputs": [],
   "source": [
    "KL_train40_csv=LK_ID40.loc[keep_lane_row]\n",
    "KL_train40_csv.to_csv(\"./data./KL_train40.csv\",index=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "id": "6d369028-d8df-4fdd-b98b-22aa3ec2aa6d",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " 1753,\n",
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       " 383]"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import random\n",
    "LK_train=random.sample(LK_list,300)#使用了 random.sample() 函数从列表 LK_list 中随机选择了 300 个元素，并将结果存储在列表 LK_train 中。\n",
    "LK_train"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "id": "9e496422-56ec-4fd8-a120-9e4a0034e564",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "300"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(LK_train)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "id": "1eacc995-9f82-4a29-87c5-cf61716f911e",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
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       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
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       "         Vehicle_ID  Local_X     Local_Y  Lane_ID      x   x_a         y  \\\n",
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       "3360              6   52.061   91.973000        5 -0.010 -0.10  2.000000   \n",
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       "1047041        1914    6.801  955.572000        1  0.012  0.12  1.500644   \n",
       "\n",
       "               y_v  \n",
       "3356     20.000000  \n",
       "3357     20.000000  \n",
       "3358     20.000000  \n",
       "3359     20.000000  \n",
       "3360     20.000000  \n",
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       "1047039  14.913686  \n",
       "1047040  14.975964  \n",
       "1047041  15.006441  \n",
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      ]
     },
     "execution_count": 20,
     "metadata": {},
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   ],
   "source": [
    "lane_local = pd.DataFrame(columns = [\"Vehicle_ID\",\"Lane_ID\",\"Local_X\"])\n",
    "change_lane_id=ID[ID.Vehicle_ID.isin(change_vehicle_id)]\n",
    "TR_ID = ID[ID.Vehicle_ID.isin(TR_vehicle_id)]\n",
    "TL_ID = ID[ID.Vehicle_ID.isin(TL_vehicle_id)]\n",
    "change_lane_id.to_csv(\"./data/change_lane_id.csv\",index=False)\n",
    "change_lane_id"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "id": "e84e4aad-3901-4c66-910e-ca332da3a3ac",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "368"
      ]
     },
     "execution_count": 21,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane_id['Vehicle_ID'].nunique()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "4d62c413-c551-4f8b-b4f6-490d4816acde",
   "metadata": {},
   "outputs": [
    {
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       "      <td>1.416816</td>\n",
       "      <td>14.168159</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6650</th>\n",
       "      <td>11</td>\n",
       "      <td>27.036</td>\n",
       "      <td>53.825321</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>1.416505</td>\n",
       "      <td>14.165054</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6651</th>\n",
       "      <td>11</td>\n",
       "      <td>27.026</td>\n",
       "      <td>55.242000</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>1.416679</td>\n",
       "      <td>14.166787</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6652</th>\n",
       "      <td>11</td>\n",
       "      <td>27.017</td>\n",
       "      <td>56.658775</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.009</td>\n",
       "      <td>-0.09</td>\n",
       "      <td>1.416775</td>\n",
       "      <td>14.167754</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1043769</th>\n",
       "      <td>1906</td>\n",
       "      <td>45.379</td>\n",
       "      <td>2149.411446</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.002</td>\n",
       "      <td>-0.02</td>\n",
       "      <td>4.003964</td>\n",
       "      <td>40.039635</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1043770</th>\n",
       "      <td>1906</td>\n",
       "      <td>45.376</td>\n",
       "      <td>2153.417189</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.003</td>\n",
       "      <td>-0.03</td>\n",
       "      <td>4.005743</td>\n",
       "      <td>40.057429</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1043771</th>\n",
       "      <td>1906</td>\n",
       "      <td>45.373</td>\n",
       "      <td>2157.424180</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.003</td>\n",
       "      <td>-0.03</td>\n",
       "      <td>4.006992</td>\n",
       "      <td>40.069916</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1043772</th>\n",
       "      <td>1906</td>\n",
       "      <td>45.370</td>\n",
       "      <td>2161.425966</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.003</td>\n",
       "      <td>-0.03</td>\n",
       "      <td>4.001786</td>\n",
       "      <td>40.017858</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1043773</th>\n",
       "      <td>1906</td>\n",
       "      <td>45.367</td>\n",
       "      <td>2165.426000</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.003</td>\n",
       "      <td>-0.03</td>\n",
       "      <td>4.000034</td>\n",
       "      <td>40.000339</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>74122 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "         Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "6648             11   27.056    50.992000        3 -0.010 -0.10  1.417000   \n",
       "6649             11   27.046    52.408816        3 -0.010 -0.10  1.416816   \n",
       "6650             11   27.036    53.825321        3 -0.010 -0.10  1.416505   \n",
       "6651             11   27.026    55.242000        3 -0.010 -0.10  1.416679   \n",
       "6652             11   27.017    56.658775        3 -0.009 -0.09  1.416775   \n",
       "...             ...      ...          ...      ...    ...   ...       ...   \n",
       "1043769        1906   45.379  2149.411446        4 -0.002 -0.02  4.003964   \n",
       "1043770        1906   45.376  2153.417189        4 -0.003 -0.03  4.005743   \n",
       "1043771        1906   45.373  2157.424180        4 -0.003 -0.03  4.006992   \n",
       "1043772        1906   45.370  2161.425966        4 -0.003 -0.03  4.001786   \n",
       "1043773        1906   45.367  2165.426000        4 -0.003 -0.03  4.000034   \n",
       "\n",
       "               y_v  \n",
       "6648     14.170000  \n",
       "6649     14.168159  \n",
       "6650     14.165054  \n",
       "6651     14.166787  \n",
       "6652     14.167754  \n",
       "...            ...  \n",
       "1043769  40.039635  \n",
       "1043770  40.057429  \n",
       "1043771  40.069916  \n",
       "1043772  40.017858  \n",
       "1043773  40.000339  \n",
       "\n",
       "[74122 rows x 8 columns]"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TR_ID"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "34e0de3c-632a-4183-a14e-a58bcff5c183",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "126"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TR_ID['Vehicle_ID'].nunique()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "87159f50-4bd3-4c29-b3fc-4585e5df5e16",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
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       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>3356</th>\n",
       "      <td>6</td>\n",
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       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
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       "    <tr>\n",
       "      <th>3357</th>\n",
       "      <td>6</td>\n",
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       "    <tr>\n",
       "      <th>3358</th>\n",
       "      <td>6</td>\n",
       "      <td>52.081</td>\n",
       "      <td>87.973000</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.011</td>\n",
       "      <td>-0.11</td>\n",
       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3359</th>\n",
       "      <td>6</td>\n",
       "      <td>52.071</td>\n",
       "      <td>89.973000</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3360</th>\n",
       "      <td>6</td>\n",
       "      <td>52.061</td>\n",
       "      <td>91.973000</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.010</td>\n",
       "      <td>-0.10</td>\n",
       "      <td>2.000000</td>\n",
       "      <td>20.000000</td>\n",
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       "    <tr>\n",
       "      <th>...</th>\n",
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       "      <td>...</td>\n",
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       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047037</th>\n",
       "      <td>1914</td>\n",
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       "      <td>1</td>\n",
       "      <td>0.009</td>\n",
       "      <td>0.09</td>\n",
       "      <td>1.495143</td>\n",
       "      <td>14.951429</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047038</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.763</td>\n",
       "      <td>951.082391</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.493007</td>\n",
       "      <td>14.930065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047039</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.777</td>\n",
       "      <td>952.573760</td>\n",
       "      <td>1</td>\n",
       "      <td>0.014</td>\n",
       "      <td>0.14</td>\n",
       "      <td>1.491369</td>\n",
       "      <td>14.913686</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047040</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.789</td>\n",
       "      <td>954.071356</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.497596</td>\n",
       "      <td>14.975964</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1047041</th>\n",
       "      <td>1914</td>\n",
       "      <td>6.801</td>\n",
       "      <td>955.572000</td>\n",
       "      <td>1</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.500644</td>\n",
       "      <td>15.006441</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>154227 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "         Vehicle_ID  Local_X     Local_Y  Lane_ID      x   x_a         y  \\\n",
       "3356              6   52.102   83.973000        5 -0.010 -0.10  2.000000   \n",
       "3357              6   52.092   85.973000        5 -0.010 -0.10  2.000000   \n",
       "3358              6   52.081   87.973000        5 -0.011 -0.11  2.000000   \n",
       "3359              6   52.071   89.973000        5 -0.010 -0.10  2.000000   \n",
       "3360              6   52.061   91.973000        5 -0.010 -0.10  2.000000   \n",
       "...             ...      ...         ...      ...    ...   ...       ...   \n",
       "1047037        1914    6.751  949.589384        1  0.009  0.09  1.495143   \n",
       "1047038        1914    6.763  951.082391        1  0.012  0.12  1.493007   \n",
       "1047039        1914    6.777  952.573760        1  0.014  0.14  1.491369   \n",
       "1047040        1914    6.789  954.071356        1  0.012  0.12  1.497596   \n",
       "1047041        1914    6.801  955.572000        1  0.012  0.12  1.500644   \n",
       "\n",
       "               y_v  \n",
       "3356     20.000000  \n",
       "3357     20.000000  \n",
       "3358     20.000000  \n",
       "3359     20.000000  \n",
       "3360     20.000000  \n",
       "...            ...  \n",
       "1047037  14.951429  \n",
       "1047038  14.930065  \n",
       "1047039  14.913686  \n",
       "1047040  14.975964  \n",
       "1047041  15.006441  \n",
       "\n",
       "[154227 rows x 8 columns]"
      ]
     },
     "execution_count": 24,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TL_ID"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "id": "2ad6e480-ed0c-48e3-86d0-ed72732b33f1",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "273"
      ]
     },
     "execution_count": 25,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TL_ID['Vehicle_ID'].nunique()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "id": "fce7f13a-ea3b-4878-bbf8-8409ed800914",
   "metadata": {},
   "outputs": [],
   "source": [
    "change_num=int(len(change_vehicle_row)/2)\n",
    "change_row=[]\n",
    "for i in range(change_num):\n",
    "    change_row.append(change_vehicle_row[2*i])\n",
    "one_change_local=change_lane_id.loc[change_row]\n",
    "Change_local=change_lane_id.loc[change_vehicle_row]\n",
    "TR_local=change_lane_id.loc[TR_row]\n",
    "TL_local=change_lane_id.loc[TL_row]\n",
    "one_change_local.to_csv(\"./data/one_change_local.csv\",index=0)\n",
    "Change_local.to_csv(\"./data/change_local.csv\",index=0)\n",
    "Change_local=Change_local.reset_index(drop=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "id": "3fa36ade-cff2-41f0-8fd2-b699ea3f655c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "709"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_num"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "id": "bf406e6e-8a80-4e0f-80b4-3edb159ddab6",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " ...]"
      ]
     },
     "execution_count": 28,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_vehicle_row"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 70,
   "id": "88b094a9-00a0-4106-9833-4e53f710c952",
   "metadata": {},
   "outputs": [
    {
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     "execution_count": 70,
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  {
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   "execution_count": 30,
   "id": "218245f3-fd57-4ca1-9453-27562a29813a",
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       "      <td>-0.40</td>\n",
       "      <td>3.928806</td>\n",
       "      <td>39.288055</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1415</th>\n",
       "      <td>1906</td>\n",
       "      <td>46.246</td>\n",
       "      <td>2069.765538</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.048</td>\n",
       "      <td>-0.48</td>\n",
       "      <td>3.932184</td>\n",
       "      <td>39.321842</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1416</th>\n",
       "      <td>1914</td>\n",
       "      <td>11.904</td>\n",
       "      <td>379.999326</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.308</td>\n",
       "      <td>-3.08</td>\n",
       "      <td>3.349713</td>\n",
       "      <td>33.497126</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1417</th>\n",
       "      <td>1914</td>\n",
       "      <td>11.597</td>\n",
       "      <td>383.331093</td>\n",
       "      <td>1</td>\n",
       "      <td>-0.307</td>\n",
       "      <td>-3.07</td>\n",
       "      <td>3.331766</td>\n",
       "      <td>33.317664</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>1418 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "0              6   45.243   855.047622        5 -0.399 -3.99  3.356294   \n",
       "1              6   44.856   858.414958        4 -0.387 -3.87  3.367336   \n",
       "2             11   35.032  2030.025850        3  0.379  3.79  5.202075   \n",
       "3             11   35.269  2035.220962        4  0.237  2.37  5.195111   \n",
       "4             11   35.197  2060.954255        4 -0.060 -0.60  5.113555   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1413        1906   46.281  2054.048564        5  0.118  1.18  3.928367   \n",
       "1414        1906   46.294  2065.833354        5 -0.040 -0.40  3.928806   \n",
       "1415        1906   46.246  2069.765538        4 -0.048 -0.48  3.932184   \n",
       "1416        1914   11.904   379.999326        2 -0.308 -3.08  3.349713   \n",
       "1417        1914   11.597   383.331093        1 -0.307 -3.07  3.331766   \n",
       "\n",
       "            y_v  \n",
       "0     33.562935  \n",
       "1     33.673356  \n",
       "2     52.020748  \n",
       "3     51.951113  \n",
       "4     51.135546  \n",
       "...         ...  \n",
       "1413  39.283672  \n",
       "1414  39.288055  \n",
       "1415  39.321842  \n",
       "1416  33.497126  \n",
       "1417  33.317664  \n",
       "\n",
       "[1418 rows x 8 columns]"
      ]
     },
     "execution_count": 30,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Change_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "id": "fcd208c9-8db1-4fd2-82ea-abf9b54aca9a",
   "metadata": {},
   "outputs": [],
   "source": [
    "lane_local12_row=[]\n",
    "lane_local21_row=[]\n",
    "lane_local23_row=[]\n",
    "lane_local32_row=[]\n",
    "lane_local34_row=[]\n",
    "lane_local43_row=[]\n",
    "lane_local45_row=[]\n",
    "lane_local54_row=[]\n",
    "\n",
    "for i in range(len(Change_local)):\n",
    "    if i ==0:\n",
    "        continue\n",
    "    else:\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==2 and Change_local.Lane_ID[i-1]==1:\n",
    "            lane_local12_row.append(i-1)\n",
    "            lane_local12_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==1 and Change_local.Lane_ID[i-1]==2:\n",
    "            lane_local21_row.append(i-1)\n",
    "            lane_local21_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==3 and Change_local.Lane_ID[i-1]==2:\n",
    "            lane_local23_row.append(i-1)\n",
    "            lane_local23_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==2 and Change_local.Lane_ID[i-1]==3:\n",
    "            lane_local32_row.append(i-1)\n",
    "            lane_local32_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==4 and Change_local.Lane_ID[i-1]==3:\n",
    "            lane_local34_row.append(i-1)\n",
    "            lane_local34_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==3 and Change_local.Lane_ID[i-1]==4:\n",
    "            lane_local43_row.append(i-1)\n",
    "            lane_local43_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==5 and Change_local.Lane_ID[i-1]==4:\n",
    "            lane_local45_row.append(i-1)\n",
    "            lane_local45_row.append(i)\n",
    "        if Change_local.Vehicle_ID[i]==Change_local.Vehicle_ID[i-1] and  Change_local.Lane_ID[i]==4 and Change_local.Lane_ID[i-1]==5:\n",
    "            lane_local54_row.append(i-1)\n",
    "            lane_local54_row.append(i)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "id": "32721000-6938-406a-907c-a0b9b7e9e1e4",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[38,\n",
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       " 1055,\n",
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       " 1266,\n",
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       " 1366,\n",
       " 1367,\n",
       " 1394,\n",
       " 1395,\n",
       " 1398,\n",
       " 1399]"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "lane_local12_row"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "id": "a78b889a-5912-4fb9-8731-cc9edc28ac9d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "77.0"
      ]
     },
     "execution_count": 78,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(lane_local54_row)/2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "id": "6ce02b8b-7e77-4d6d-b420-a12a3bb1f867",
   "metadata": {},
   "outputs": [],
   "source": [
    "change_lane12_local=Change_local.loc[lane_local12_row]\n",
    "change_lane21_local=Change_local.loc[lane_local21_row]\n",
    "change_lane23_local=Change_local.loc[lane_local23_row]\n",
    "change_lane32_local=Change_local.loc[lane_local32_row]\n",
    "change_lane34_local=Change_local.loc[lane_local34_row]\n",
    "change_lane43_local=Change_local.loc[lane_local43_row]\n",
    "change_lane45_local=Change_local.loc[lane_local45_row]\n",
    "change_lane54_local=Change_local.loc[lane_local54_row]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "id": "88120f5c-1876-4a52-816d-ea40356409a0",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
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       "        text-align: right;\n",
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>38</th>\n",
       "      <td>49</td>\n",
       "      <td>11.419</td>\n",
       "      <td>273.971180</td>\n",
       "      <td>1</td>\n",
       "      <td>0.057</td>\n",
       "      <td>0.57</td>\n",
       "      <td>3.291897</td>\n",
       "      <td>32.918972</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>39</th>\n",
       "      <td>49</td>\n",
       "      <td>11.478</td>\n",
       "      <td>277.301257</td>\n",
       "      <td>2</td>\n",
       "      <td>0.059</td>\n",
       "      <td>0.59</td>\n",
       "      <td>3.330077</td>\n",
       "      <td>33.300770</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>58</th>\n",
       "      <td>72</td>\n",
       "      <td>12.194</td>\n",
       "      <td>2155.357270</td>\n",
       "      <td>1</td>\n",
       "      <td>0.496</td>\n",
       "      <td>4.96</td>\n",
       "      <td>4.429508</td>\n",
       "      <td>44.295081</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>59</th>\n",
       "      <td>72</td>\n",
       "      <td>12.691</td>\n",
       "      <td>2159.857523</td>\n",
       "      <td>2</td>\n",
       "      <td>0.497</td>\n",
       "      <td>4.97</td>\n",
       "      <td>4.500253</td>\n",
       "      <td>45.002534</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>78</th>\n",
       "      <td>92</td>\n",
       "      <td>11.820</td>\n",
       "      <td>682.257250</td>\n",
       "      <td>1</td>\n",
       "      <td>0.443</td>\n",
       "      <td>4.43</td>\n",
       "      <td>3.783384</td>\n",
       "      <td>37.833845</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1367</th>\n",
       "      <td>1783</td>\n",
       "      <td>12.704</td>\n",
       "      <td>2051.867369</td>\n",
       "      <td>2</td>\n",
       "      <td>0.169</td>\n",
       "      <td>1.69</td>\n",
       "      <td>4.859899</td>\n",
       "      <td>48.598988</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1394</th>\n",
       "      <td>1835</td>\n",
       "      <td>11.595</td>\n",
       "      <td>342.253732</td>\n",
       "      <td>1</td>\n",
       "      <td>0.375</td>\n",
       "      <td>3.75</td>\n",
       "      <td>3.872497</td>\n",
       "      <td>38.724974</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1395</th>\n",
       "      <td>1835</td>\n",
       "      <td>12.023</td>\n",
       "      <td>346.149605</td>\n",
       "      <td>2</td>\n",
       "      <td>0.428</td>\n",
       "      <td>4.28</td>\n",
       "      <td>3.895873</td>\n",
       "      <td>38.958727</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1398</th>\n",
       "      <td>1863</td>\n",
       "      <td>12.511</td>\n",
       "      <td>1241.269221</td>\n",
       "      <td>1</td>\n",
       "      <td>0.220</td>\n",
       "      <td>2.20</td>\n",
       "      <td>1.877818</td>\n",
       "      <td>18.778182</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1399</th>\n",
       "      <td>1863</td>\n",
       "      <td>12.755</td>\n",
       "      <td>1243.179730</td>\n",
       "      <td>2</td>\n",
       "      <td>0.244</td>\n",
       "      <td>2.44</td>\n",
       "      <td>1.910508</td>\n",
       "      <td>19.105083</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>84 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "38            49   11.419   273.971180        1  0.057  0.57  3.291897   \n",
       "39            49   11.478   277.301257        2  0.059  0.59  3.330077   \n",
       "58            72   12.194  2155.357270        1  0.496  4.96  4.429508   \n",
       "59            72   12.691  2159.857523        2  0.497  4.97  4.500253   \n",
       "78            92   11.820   682.257250        1  0.443  4.43  3.783384   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1367        1783   12.704  2051.867369        2  0.169  1.69  4.859899   \n",
       "1394        1835   11.595   342.253732        1  0.375  3.75  3.872497   \n",
       "1395        1835   12.023   346.149605        2  0.428  4.28  3.895873   \n",
       "1398        1863   12.511  1241.269221        1  0.220  2.20  1.877818   \n",
       "1399        1863   12.755  1243.179730        2  0.244  2.44  1.910508   \n",
       "\n",
       "            y_v  \n",
       "38    32.918972  \n",
       "39    33.300770  \n",
       "58    44.295081  \n",
       "59    45.002534  \n",
       "78    37.833845  \n",
       "...         ...  \n",
       "1367  48.598988  \n",
       "1394  38.724974  \n",
       "1395  38.958727  \n",
       "1398  18.778182  \n",
       "1399  19.105083  \n",
       "\n",
       "[84 rows x 8 columns]"
      ]
     },
     "execution_count": 34,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane12_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "id": "a2d24a99-3d6e-4f39-86ba-396ff4e2e5bf",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID12=change_lane12_local['Vehicle_ID']\n",
    "Vehicle_ID12.tolist()\n",
    "set(Vehicle_ID12)\n",
    "Vehicle_ID12=set(Vehicle_ID12)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "id": "66dc6bb4-cfd4-4a87-b032-6b5983c0fe0e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{49,\n",
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       " 1863}"
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     "execution_count": 36,
     "metadata": {},
     "output_type": "execute_result"
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   "source": [
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  {
   "cell_type": "code",
   "execution_count": 37,
   "id": "cfbb1fef-ed98-460b-9874-288f2798d442",
   "metadata": {},
   "outputs": [
    {
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       "      <td>837.487367</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.037</td>\n",
       "      <td>-0.37</td>\n",
       "      <td>5.536383</td>\n",
       "      <td>55.363834</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>87</th>\n",
       "      <td>99</td>\n",
       "      <td>12.413</td>\n",
       "      <td>843.043850</td>\n",
       "      <td>1</td>\n",
       "      <td>-0.103</td>\n",
       "      <td>-1.03</td>\n",
       "      <td>5.556483</td>\n",
       "      <td>55.564828</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>90</th>\n",
       "      <td>99</td>\n",
       "      <td>12.942</td>\n",
       "      <td>1421.122237</td>\n",
       "      <td>2</td>\n",
       "      <td>0.019</td>\n",
       "      <td>0.19</td>\n",
       "      <td>5.622198</td>\n",
       "      <td>56.221984</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1397</th>\n",
       "      <td>1835</td>\n",
       "      <td>11.713</td>\n",
       "      <td>1767.737911</td>\n",
       "      <td>1</td>\n",
       "      <td>-0.245</td>\n",
       "      <td>-2.45</td>\n",
       "      <td>4.673353</td>\n",
       "      <td>46.733535</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1404</th>\n",
       "      <td>1873</td>\n",
       "      <td>12.753</td>\n",
       "      <td>2132.475514</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.199</td>\n",
       "      <td>-1.99</td>\n",
       "      <td>5.219110</td>\n",
       "      <td>52.191104</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1405</th>\n",
       "      <td>1873</td>\n",
       "      <td>12.553</td>\n",
       "      <td>2137.692750</td>\n",
       "      <td>1</td>\n",
       "      <td>-0.200</td>\n",
       "      <td>-2.00</td>\n",
       "      <td>5.217236</td>\n",
       "      <td>52.172357</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1416</th>\n",
       "      <td>1914</td>\n",
       "      <td>11.904</td>\n",
       "      <td>379.999326</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.308</td>\n",
       "      <td>-3.08</td>\n",
       "      <td>3.349713</td>\n",
       "      <td>33.497126</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1417</th>\n",
       "      <td>1914</td>\n",
       "      <td>11.597</td>\n",
       "      <td>383.331093</td>\n",
       "      <td>1</td>\n",
       "      <td>-0.307</td>\n",
       "      <td>-3.07</td>\n",
       "      <td>3.331766</td>\n",
       "      <td>33.317664</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>106 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "42            53   13.129  1532.546456        2 -0.190 -1.90  5.006601   \n",
       "43            53   12.797  1537.542143        1 -0.332 -3.32  4.995686   \n",
       "86            99   12.516   837.487367        2 -0.037 -0.37  5.536383   \n",
       "87            99   12.413   843.043850        1 -0.103 -1.03  5.556483   \n",
       "90            99   12.942  1421.122237        2  0.019  0.19  5.622198   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1397        1835   11.713  1767.737911        1 -0.245 -2.45  4.673353   \n",
       "1404        1873   12.753  2132.475514        2 -0.199 -1.99  5.219110   \n",
       "1405        1873   12.553  2137.692750        1 -0.200 -2.00  5.217236   \n",
       "1416        1914   11.904   379.999326        2 -0.308 -3.08  3.349713   \n",
       "1417        1914   11.597   383.331093        1 -0.307 -3.07  3.331766   \n",
       "\n",
       "            y_v  \n",
       "42    50.066006  \n",
       "43    49.956864  \n",
       "86    55.363834  \n",
       "87    55.564828  \n",
       "90    56.221984  \n",
       "...         ...  \n",
       "1397  46.733535  \n",
       "1404  52.191104  \n",
       "1405  52.172357  \n",
       "1416  33.497126  \n",
       "1417  33.317664  \n",
       "\n",
       "[106 rows x 8 columns]"
      ]
     },
     "execution_count": 37,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane21_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "id": "aee9de97-1e10-4819-b766-b79e1db8ddd6",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID21=change_lane21_local['Vehicle_ID']\n",
    "Vehicle_ID21.tolist()\n",
    "set(Vehicle_ID21)\n",
    "Vehicle_ID21=set(Vehicle_ID21)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "id": "4d8387c7-9818-4b1f-8901-6e028d2b9d93",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>40</th>\n",
       "      <td>49</td>\n",
       "      <td>23.466</td>\n",
       "      <td>690.424883</td>\n",
       "      <td>2</td>\n",
       "      <td>0.081</td>\n",
       "      <td>0.81</td>\n",
       "      <td>3.099630</td>\n",
       "      <td>30.996296</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>41</th>\n",
       "      <td>49</td>\n",
       "      <td>23.547</td>\n",
       "      <td>693.535914</td>\n",
       "      <td>3</td>\n",
       "      <td>0.081</td>\n",
       "      <td>0.81</td>\n",
       "      <td>3.111031</td>\n",
       "      <td>31.110311</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>54</th>\n",
       "      <td>71</td>\n",
       "      <td>23.645</td>\n",
       "      <td>455.145153</td>\n",
       "      <td>2</td>\n",
       "      <td>0.277</td>\n",
       "      <td>2.77</td>\n",
       "      <td>2.949552</td>\n",
       "      <td>29.495517</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>55</th>\n",
       "      <td>71</td>\n",
       "      <td>23.858</td>\n",
       "      <td>458.062148</td>\n",
       "      <td>3</td>\n",
       "      <td>0.213</td>\n",
       "      <td>2.13</td>\n",
       "      <td>2.916995</td>\n",
       "      <td>29.169952</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>60</th>\n",
       "      <td>76</td>\n",
       "      <td>23.105</td>\n",
       "      <td>527.915563</td>\n",
       "      <td>2</td>\n",
       "      <td>0.233</td>\n",
       "      <td>2.33</td>\n",
       "      <td>2.451076</td>\n",
       "      <td>24.510761</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>61</th>\n",
       "      <td>76</td>\n",
       "      <td>23.337</td>\n",
       "      <td>530.352046</td>\n",
       "      <td>3</td>\n",
       "      <td>0.232</td>\n",
       "      <td>2.32</td>\n",
       "      <td>2.436483</td>\n",
       "      <td>24.364829</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>106</th>\n",
       "      <td>110</td>\n",
       "      <td>23.292</td>\n",
       "      <td>1171.284776</td>\n",
       "      <td>2</td>\n",
       "      <td>0.707</td>\n",
       "      <td>7.07</td>\n",
       "      <td>4.825786</td>\n",
       "      <td>48.257862</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>107</th>\n",
       "      <td>110</td>\n",
       "      <td>24.000</td>\n",
       "      <td>1176.115779</td>\n",
       "      <td>3</td>\n",
       "      <td>0.708</td>\n",
       "      <td>7.08</td>\n",
       "      <td>4.831003</td>\n",
       "      <td>48.310030</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>108</th>\n",
       "      <td>139</td>\n",
       "      <td>23.346</td>\n",
       "      <td>689.261795</td>\n",
       "      <td>2</td>\n",
       "      <td>0.475</td>\n",
       "      <td>4.75</td>\n",
       "      <td>3.912357</td>\n",
       "      <td>39.123568</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>109</th>\n",
       "      <td>139</td>\n",
       "      <td>23.820</td>\n",
       "      <td>693.182546</td>\n",
       "      <td>3</td>\n",
       "      <td>0.474</td>\n",
       "      <td>4.74</td>\n",
       "      <td>3.920751</td>\n",
       "      <td>39.207512</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>276</th>\n",
       "      <td>325</td>\n",
       "      <td>23.254</td>\n",
       "      <td>548.377789</td>\n",
       "      <td>2</td>\n",
       "      <td>0.434</td>\n",
       "      <td>4.34</td>\n",
       "      <td>4.966753</td>\n",
       "      <td>49.667527</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>277</th>\n",
       "      <td>325</td>\n",
       "      <td>23.688</td>\n",
       "      <td>553.352455</td>\n",
       "      <td>3</td>\n",
       "      <td>0.434</td>\n",
       "      <td>4.34</td>\n",
       "      <td>4.974666</td>\n",
       "      <td>49.746657</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>290</th>\n",
       "      <td>337</td>\n",
       "      <td>23.577</td>\n",
       "      <td>1192.513426</td>\n",
       "      <td>2</td>\n",
       "      <td>0.254</td>\n",
       "      <td>2.54</td>\n",
       "      <td>3.036840</td>\n",
       "      <td>30.368397</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>291</th>\n",
       "      <td>337</td>\n",
       "      <td>23.831</td>\n",
       "      <td>1195.566840</td>\n",
       "      <td>3</td>\n",
       "      <td>0.254</td>\n",
       "      <td>2.54</td>\n",
       "      <td>3.053414</td>\n",
       "      <td>30.534141</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>302</th>\n",
       "      <td>351</td>\n",
       "      <td>23.419</td>\n",
       "      <td>1203.708718</td>\n",
       "      <td>2</td>\n",
       "      <td>0.469</td>\n",
       "      <td>4.69</td>\n",
       "      <td>3.614244</td>\n",
       "      <td>36.142443</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>303</th>\n",
       "      <td>351</td>\n",
       "      <td>23.944</td>\n",
       "      <td>1207.316237</td>\n",
       "      <td>3</td>\n",
       "      <td>0.525</td>\n",
       "      <td>5.25</td>\n",
       "      <td>3.607519</td>\n",
       "      <td>36.075192</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>392</th>\n",
       "      <td>442</td>\n",
       "      <td>23.492</td>\n",
       "      <td>1790.858355</td>\n",
       "      <td>2</td>\n",
       "      <td>0.238</td>\n",
       "      <td>2.38</td>\n",
       "      <td>2.689766</td>\n",
       "      <td>26.897655</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>393</th>\n",
       "      <td>442</td>\n",
       "      <td>23.730</td>\n",
       "      <td>1793.540594</td>\n",
       "      <td>3</td>\n",
       "      <td>0.238</td>\n",
       "      <td>2.38</td>\n",
       "      <td>2.682239</td>\n",
       "      <td>26.822389</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>444</th>\n",
       "      <td>483</td>\n",
       "      <td>23.289</td>\n",
       "      <td>775.284975</td>\n",
       "      <td>2</td>\n",
       "      <td>0.207</td>\n",
       "      <td>2.07</td>\n",
       "      <td>3.762341</td>\n",
       "      <td>37.623406</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>445</th>\n",
       "      <td>483</td>\n",
       "      <td>23.495</td>\n",
       "      <td>779.051141</td>\n",
       "      <td>3</td>\n",
       "      <td>0.206</td>\n",
       "      <td>2.06</td>\n",
       "      <td>3.766166</td>\n",
       "      <td>37.661661</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>460</th>\n",
       "      <td>495</td>\n",
       "      <td>23.326</td>\n",
       "      <td>511.616612</td>\n",
       "      <td>2</td>\n",
       "      <td>0.210</td>\n",
       "      <td>2.10</td>\n",
       "      <td>2.802996</td>\n",
       "      <td>28.029961</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>461</th>\n",
       "      <td>495</td>\n",
       "      <td>23.535</td>\n",
       "      <td>514.433039</td>\n",
       "      <td>3</td>\n",
       "      <td>0.209</td>\n",
       "      <td>2.09</td>\n",
       "      <td>2.816426</td>\n",
       "      <td>28.164265</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>462</th>\n",
       "      <td>500</td>\n",
       "      <td>22.965</td>\n",
       "      <td>205.275705</td>\n",
       "      <td>2</td>\n",
       "      <td>0.246</td>\n",
       "      <td>2.46</td>\n",
       "      <td>2.497144</td>\n",
       "      <td>24.971437</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>463</th>\n",
       "      <td>500</td>\n",
       "      <td>23.212</td>\n",
       "      <td>207.771091</td>\n",
       "      <td>3</td>\n",
       "      <td>0.247</td>\n",
       "      <td>2.47</td>\n",
       "      <td>2.495386</td>\n",
       "      <td>24.953864</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>502</th>\n",
       "      <td>540</td>\n",
       "      <td>23.921</td>\n",
       "      <td>1253.108408</td>\n",
       "      <td>2</td>\n",
       "      <td>0.075</td>\n",
       "      <td>0.75</td>\n",
       "      <td>3.180196</td>\n",
       "      <td>31.801963</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>503</th>\n",
       "      <td>540</td>\n",
       "      <td>24.052</td>\n",
       "      <td>1256.277379</td>\n",
       "      <td>3</td>\n",
       "      <td>0.131</td>\n",
       "      <td>1.31</td>\n",
       "      <td>3.168971</td>\n",
       "      <td>31.689707</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>506</th>\n",
       "      <td>540</td>\n",
       "      <td>23.872</td>\n",
       "      <td>1304.836482</td>\n",
       "      <td>2</td>\n",
       "      <td>0.303</td>\n",
       "      <td>3.03</td>\n",
       "      <td>2.891165</td>\n",
       "      <td>28.911645</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>507</th>\n",
       "      <td>540</td>\n",
       "      <td>24.176</td>\n",
       "      <td>1307.711126</td>\n",
       "      <td>3</td>\n",
       "      <td>0.304</td>\n",
       "      <td>3.04</td>\n",
       "      <td>2.874644</td>\n",
       "      <td>28.746438</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>622</th>\n",
       "      <td>642</td>\n",
       "      <td>23.375</td>\n",
       "      <td>674.557979</td>\n",
       "      <td>2</td>\n",
       "      <td>0.279</td>\n",
       "      <td>2.79</td>\n",
       "      <td>1.333143</td>\n",
       "      <td>13.331433</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>623</th>\n",
       "      <td>642</td>\n",
       "      <td>23.655</td>\n",
       "      <td>675.938930</td>\n",
       "      <td>3</td>\n",
       "      <td>0.280</td>\n",
       "      <td>2.80</td>\n",
       "      <td>1.380951</td>\n",
       "      <td>13.809511</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>690</th>\n",
       "      <td>745</td>\n",
       "      <td>24.017</td>\n",
       "      <td>1479.935724</td>\n",
       "      <td>2</td>\n",
       "      <td>0.373</td>\n",
       "      <td>3.73</td>\n",
       "      <td>3.560908</td>\n",
       "      <td>35.609078</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>691</th>\n",
       "      <td>745</td>\n",
       "      <td>24.392</td>\n",
       "      <td>1483.503083</td>\n",
       "      <td>3</td>\n",
       "      <td>0.375</td>\n",
       "      <td>3.75</td>\n",
       "      <td>3.567359</td>\n",
       "      <td>35.673591</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>718</th>\n",
       "      <td>770</td>\n",
       "      <td>23.792</td>\n",
       "      <td>1545.849575</td>\n",
       "      <td>2</td>\n",
       "      <td>0.514</td>\n",
       "      <td>5.14</td>\n",
       "      <td>3.903427</td>\n",
       "      <td>39.034270</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>719</th>\n",
       "      <td>770</td>\n",
       "      <td>24.277</td>\n",
       "      <td>1549.769608</td>\n",
       "      <td>3</td>\n",
       "      <td>0.485</td>\n",
       "      <td>4.85</td>\n",
       "      <td>3.920032</td>\n",
       "      <td>39.200322</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>778</th>\n",
       "      <td>900</td>\n",
       "      <td>23.431</td>\n",
       "      <td>1161.889435</td>\n",
       "      <td>2</td>\n",
       "      <td>0.408</td>\n",
       "      <td>4.08</td>\n",
       "      <td>4.622143</td>\n",
       "      <td>46.221431</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>779</th>\n",
       "      <td>900</td>\n",
       "      <td>23.837</td>\n",
       "      <td>1166.506670</td>\n",
       "      <td>3</td>\n",
       "      <td>0.406</td>\n",
       "      <td>4.06</td>\n",
       "      <td>4.617235</td>\n",
       "      <td>46.172347</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>850</th>\n",
       "      <td>963</td>\n",
       "      <td>24.074</td>\n",
       "      <td>1444.656707</td>\n",
       "      <td>2</td>\n",
       "      <td>0.166</td>\n",
       "      <td>1.66</td>\n",
       "      <td>4.871994</td>\n",
       "      <td>48.719942</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>851</th>\n",
       "      <td>963</td>\n",
       "      <td>24.243</td>\n",
       "      <td>1449.523918</td>\n",
       "      <td>3</td>\n",
       "      <td>0.169</td>\n",
       "      <td>1.69</td>\n",
       "      <td>4.867211</td>\n",
       "      <td>48.672109</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1002</th>\n",
       "      <td>1163</td>\n",
       "      <td>23.297</td>\n",
       "      <td>1097.700298</td>\n",
       "      <td>2</td>\n",
       "      <td>0.467</td>\n",
       "      <td>4.67</td>\n",
       "      <td>5.306206</td>\n",
       "      <td>53.062060</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1003</th>\n",
       "      <td>1163</td>\n",
       "      <td>23.759</td>\n",
       "      <td>1102.996187</td>\n",
       "      <td>3</td>\n",
       "      <td>0.462</td>\n",
       "      <td>4.62</td>\n",
       "      <td>5.295889</td>\n",
       "      <td>52.958887</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1154</th>\n",
       "      <td>1360</td>\n",
       "      <td>23.264</td>\n",
       "      <td>1558.354903</td>\n",
       "      <td>2</td>\n",
       "      <td>0.491</td>\n",
       "      <td>4.91</td>\n",
       "      <td>4.503907</td>\n",
       "      <td>45.039066</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1155</th>\n",
       "      <td>1360</td>\n",
       "      <td>23.755</td>\n",
       "      <td>1562.897481</td>\n",
       "      <td>3</td>\n",
       "      <td>0.491</td>\n",
       "      <td>4.91</td>\n",
       "      <td>4.542577</td>\n",
       "      <td>45.425774</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1262</th>\n",
       "      <td>1550</td>\n",
       "      <td>23.844</td>\n",
       "      <td>1230.657074</td>\n",
       "      <td>2</td>\n",
       "      <td>0.169</td>\n",
       "      <td>1.69</td>\n",
       "      <td>3.881360</td>\n",
       "      <td>38.813603</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1263</th>\n",
       "      <td>1550</td>\n",
       "      <td>24.014</td>\n",
       "      <td>1234.563657</td>\n",
       "      <td>3</td>\n",
       "      <td>0.170</td>\n",
       "      <td>1.70</td>\n",
       "      <td>3.906582</td>\n",
       "      <td>39.065823</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1392</th>\n",
       "      <td>1829</td>\n",
       "      <td>23.152</td>\n",
       "      <td>2149.555198</td>\n",
       "      <td>2</td>\n",
       "      <td>0.271</td>\n",
       "      <td>2.71</td>\n",
       "      <td>4.650336</td>\n",
       "      <td>46.503358</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1393</th>\n",
       "      <td>1829</td>\n",
       "      <td>23.646</td>\n",
       "      <td>2154.283003</td>\n",
       "      <td>3</td>\n",
       "      <td>0.494</td>\n",
       "      <td>4.94</td>\n",
       "      <td>4.727804</td>\n",
       "      <td>47.278043</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "40            49   23.466   690.424883        2  0.081  0.81  3.099630   \n",
       "41            49   23.547   693.535914        3  0.081  0.81  3.111031   \n",
       "54            71   23.645   455.145153        2  0.277  2.77  2.949552   \n",
       "55            71   23.858   458.062148        3  0.213  2.13  2.916995   \n",
       "60            76   23.105   527.915563        2  0.233  2.33  2.451076   \n",
       "61            76   23.337   530.352046        3  0.232  2.32  2.436483   \n",
       "106          110   23.292  1171.284776        2  0.707  7.07  4.825786   \n",
       "107          110   24.000  1176.115779        3  0.708  7.08  4.831003   \n",
       "108          139   23.346   689.261795        2  0.475  4.75  3.912357   \n",
       "109          139   23.820   693.182546        3  0.474  4.74  3.920751   \n",
       "276          325   23.254   548.377789        2  0.434  4.34  4.966753   \n",
       "277          325   23.688   553.352455        3  0.434  4.34  4.974666   \n",
       "290          337   23.577  1192.513426        2  0.254  2.54  3.036840   \n",
       "291          337   23.831  1195.566840        3  0.254  2.54  3.053414   \n",
       "302          351   23.419  1203.708718        2  0.469  4.69  3.614244   \n",
       "303          351   23.944  1207.316237        3  0.525  5.25  3.607519   \n",
       "392          442   23.492  1790.858355        2  0.238  2.38  2.689766   \n",
       "393          442   23.730  1793.540594        3  0.238  2.38  2.682239   \n",
       "444          483   23.289   775.284975        2  0.207  2.07  3.762341   \n",
       "445          483   23.495   779.051141        3  0.206  2.06  3.766166   \n",
       "460          495   23.326   511.616612        2  0.210  2.10  2.802996   \n",
       "461          495   23.535   514.433039        3  0.209  2.09  2.816426   \n",
       "462          500   22.965   205.275705        2  0.246  2.46  2.497144   \n",
       "463          500   23.212   207.771091        3  0.247  2.47  2.495386   \n",
       "502          540   23.921  1253.108408        2  0.075  0.75  3.180196   \n",
       "503          540   24.052  1256.277379        3  0.131  1.31  3.168971   \n",
       "506          540   23.872  1304.836482        2  0.303  3.03  2.891165   \n",
       "507          540   24.176  1307.711126        3  0.304  3.04  2.874644   \n",
       "622          642   23.375   674.557979        2  0.279  2.79  1.333143   \n",
       "623          642   23.655   675.938930        3  0.280  2.80  1.380951   \n",
       "690          745   24.017  1479.935724        2  0.373  3.73  3.560908   \n",
       "691          745   24.392  1483.503083        3  0.375  3.75  3.567359   \n",
       "718          770   23.792  1545.849575        2  0.514  5.14  3.903427   \n",
       "719          770   24.277  1549.769608        3  0.485  4.85  3.920032   \n",
       "778          900   23.431  1161.889435        2  0.408  4.08  4.622143   \n",
       "779          900   23.837  1166.506670        3  0.406  4.06  4.617235   \n",
       "850          963   24.074  1444.656707        2  0.166  1.66  4.871994   \n",
       "851          963   24.243  1449.523918        3  0.169  1.69  4.867211   \n",
       "1002        1163   23.297  1097.700298        2  0.467  4.67  5.306206   \n",
       "1003        1163   23.759  1102.996187        3  0.462  4.62  5.295889   \n",
       "1154        1360   23.264  1558.354903        2  0.491  4.91  4.503907   \n",
       "1155        1360   23.755  1562.897481        3  0.491  4.91  4.542577   \n",
       "1262        1550   23.844  1230.657074        2  0.169  1.69  3.881360   \n",
       "1263        1550   24.014  1234.563657        3  0.170  1.70  3.906582   \n",
       "1392        1829   23.152  2149.555198        2  0.271  2.71  4.650336   \n",
       "1393        1829   23.646  2154.283003        3  0.494  4.94  4.727804   \n",
       "\n",
       "            y_v  \n",
       "40    30.996296  \n",
       "41    31.110311  \n",
       "54    29.495517  \n",
       "55    29.169952  \n",
       "60    24.510761  \n",
       "61    24.364829  \n",
       "106   48.257862  \n",
       "107   48.310030  \n",
       "108   39.123568  \n",
       "109   39.207512  \n",
       "276   49.667527  \n",
       "277   49.746657  \n",
       "290   30.368397  \n",
       "291   30.534141  \n",
       "302   36.142443  \n",
       "303   36.075192  \n",
       "392   26.897655  \n",
       "393   26.822389  \n",
       "444   37.623406  \n",
       "445   37.661661  \n",
       "460   28.029961  \n",
       "461   28.164265  \n",
       "462   24.971437  \n",
       "463   24.953864  \n",
       "502   31.801963  \n",
       "503   31.689707  \n",
       "506   28.911645  \n",
       "507   28.746438  \n",
       "622   13.331433  \n",
       "623   13.809511  \n",
       "690   35.609078  \n",
       "691   35.673591  \n",
       "718   39.034270  \n",
       "719   39.200322  \n",
       "778   46.221431  \n",
       "779   46.172347  \n",
       "850   48.719942  \n",
       "851   48.672109  \n",
       "1002  53.062060  \n",
       "1003  52.958887  \n",
       "1154  45.039066  \n",
       "1155  45.425774  \n",
       "1262  38.813603  \n",
       "1263  39.065823  \n",
       "1392  46.503358  \n",
       "1393  47.278043  "
      ]
     },
     "execution_count": 39,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane23_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 40,
   "id": "e734a343-55b7-4b9c-ae7b-7735e613b0af",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID23=change_lane23_local['Vehicle_ID']\n",
    "Vehicle_ID23.tolist()\n",
    "set(Vehicle_ID23)\n",
    "Vehicle_ID23=set(Vehicle_ID23)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "id": "0fa0275b-9a2d-40cf-84b9-4bb3b26e3d54",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
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       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>36</th>\n",
       "      <td>48</td>\n",
       "      <td>24.021</td>\n",
       "      <td>1673.103474</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.447</td>\n",
       "      <td>-4.47</td>\n",
       "      <td>5.110347</td>\n",
       "      <td>51.103465</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>37</th>\n",
       "      <td>48</td>\n",
       "      <td>23.574</td>\n",
       "      <td>1678.222817</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.447</td>\n",
       "      <td>-4.47</td>\n",
       "      <td>5.119343</td>\n",
       "      <td>51.193434</td>\n",
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       "    <tr>\n",
       "      <th>44</th>\n",
       "      <td>61</td>\n",
       "      <td>23.173</td>\n",
       "      <td>363.039942</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.174</td>\n",
       "      <td>-1.74</td>\n",
       "      <td>3.121801</td>\n",
       "      <td>31.218010</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>45</th>\n",
       "      <td>61</td>\n",
       "      <td>22.999</td>\n",
       "      <td>366.166933</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.174</td>\n",
       "      <td>-1.74</td>\n",
       "      <td>3.126991</td>\n",
       "      <td>31.269907</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>52</th>\n",
       "      <td>67</td>\n",
       "      <td>23.417</td>\n",
       "      <td>547.946304</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.383</td>\n",
       "      <td>-3.83</td>\n",
       "      <td>3.065391</td>\n",
       "      <td>30.653913</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1285</th>\n",
       "      <td>1637</td>\n",
       "      <td>24.153</td>\n",
       "      <td>1409.923492</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.243</td>\n",
       "      <td>-2.43</td>\n",
       "      <td>2.053885</td>\n",
       "      <td>20.538853</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1290</th>\n",
       "      <td>1645</td>\n",
       "      <td>23.415</td>\n",
       "      <td>323.612098</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.154</td>\n",
       "      <td>-1.54</td>\n",
       "      <td>3.002822</td>\n",
       "      <td>30.028220</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1291</th>\n",
       "      <td>1645</td>\n",
       "      <td>23.157</td>\n",
       "      <td>326.596745</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.258</td>\n",
       "      <td>-2.58</td>\n",
       "      <td>2.984646</td>\n",
       "      <td>29.846465</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1358</th>\n",
       "      <td>1771</td>\n",
       "      <td>24.200</td>\n",
       "      <td>1666.140637</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.432</td>\n",
       "      <td>-4.32</td>\n",
       "      <td>2.107683</td>\n",
       "      <td>21.076835</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1359</th>\n",
       "      <td>1771</td>\n",
       "      <td>23.804</td>\n",
       "      <td>1668.240879</td>\n",
       "      <td>2</td>\n",
       "      <td>-0.396</td>\n",
       "      <td>-3.96</td>\n",
       "      <td>2.100242</td>\n",
       "      <td>21.002423</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>102 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "36            48   24.021  1673.103474        3 -0.447 -4.47  5.110347   \n",
       "37            48   23.574  1678.222817        2 -0.447 -4.47  5.119343   \n",
       "44            61   23.173   363.039942        3 -0.174 -1.74  3.121801   \n",
       "45            61   22.999   366.166933        2 -0.174 -1.74  3.126991   \n",
       "52            67   23.417   547.946304        3 -0.383 -3.83  3.065391   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1285        1637   24.153  1409.923492        2 -0.243 -2.43  2.053885   \n",
       "1290        1645   23.415   323.612098        3 -0.154 -1.54  3.002822   \n",
       "1291        1645   23.157   326.596745        2 -0.258 -2.58  2.984646   \n",
       "1358        1771   24.200  1666.140637        3 -0.432 -4.32  2.107683   \n",
       "1359        1771   23.804  1668.240879        2 -0.396 -3.96  2.100242   \n",
       "\n",
       "            y_v  \n",
       "36    51.103465  \n",
       "37    51.193434  \n",
       "44    31.218010  \n",
       "45    31.269907  \n",
       "52    30.653913  \n",
       "...         ...  \n",
       "1285  20.538853  \n",
       "1290  30.028220  \n",
       "1291  29.846465  \n",
       "1358  21.076835  \n",
       "1359  21.002423  \n",
       "\n",
       "[102 rows x 8 columns]"
      ]
     },
     "execution_count": 41,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane32_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 42,
   "id": "9a77652e-2c34-4970-a345-a4aa9460b151",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID32=change_lane32_local['Vehicle_ID']\n",
    "Vehicle_ID32.tolist()\n",
    "set(Vehicle_ID32)\n",
    "Vehicle_ID32=set(Vehicle_ID32)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 43,
   "id": "bb2fa5ee-335d-4d40-a515-ac397245daef",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>11</td>\n",
       "      <td>35.032</td>\n",
       "      <td>2030.025850</td>\n",
       "      <td>3</td>\n",
       "      <td>0.379</td>\n",
       "      <td>3.79</td>\n",
       "      <td>5.202075</td>\n",
       "      <td>52.020748</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>11</td>\n",
       "      <td>35.269</td>\n",
       "      <td>2035.220962</td>\n",
       "      <td>4</td>\n",
       "      <td>0.237</td>\n",
       "      <td>2.37</td>\n",
       "      <td>5.195111</td>\n",
       "      <td>51.951113</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>26</th>\n",
       "      <td>44</td>\n",
       "      <td>34.412</td>\n",
       "      <td>1761.695888</td>\n",
       "      <td>3</td>\n",
       "      <td>0.119</td>\n",
       "      <td>1.19</td>\n",
       "      <td>4.960545</td>\n",
       "      <td>49.605449</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>27</th>\n",
       "      <td>44</td>\n",
       "      <td>34.691</td>\n",
       "      <td>1766.647035</td>\n",
       "      <td>4</td>\n",
       "      <td>0.279</td>\n",
       "      <td>2.79</td>\n",
       "      <td>4.951147</td>\n",
       "      <td>49.511470</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>56</th>\n",
       "      <td>71</td>\n",
       "      <td>33.936</td>\n",
       "      <td>991.947386</td>\n",
       "      <td>3</td>\n",
       "      <td>0.472</td>\n",
       "      <td>4.72</td>\n",
       "      <td>4.079664</td>\n",
       "      <td>40.796641</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>57</th>\n",
       "      <td>71</td>\n",
       "      <td>34.317</td>\n",
       "      <td>996.046792</td>\n",
       "      <td>4</td>\n",
       "      <td>0.381</td>\n",
       "      <td>3.81</td>\n",
       "      <td>4.099407</td>\n",
       "      <td>40.994065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>66</th>\n",
       "      <td>80</td>\n",
       "      <td>34.618</td>\n",
       "      <td>1920.672496</td>\n",
       "      <td>3</td>\n",
       "      <td>0.190</td>\n",
       "      <td>1.90</td>\n",
       "      <td>4.210738</td>\n",
       "      <td>42.107378</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>67</th>\n",
       "      <td>80</td>\n",
       "      <td>34.828</td>\n",
       "      <td>1924.854084</td>\n",
       "      <td>4</td>\n",
       "      <td>0.210</td>\n",
       "      <td>2.10</td>\n",
       "      <td>4.181588</td>\n",
       "      <td>41.815880</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>110</th>\n",
       "      <td>139</td>\n",
       "      <td>34.116</td>\n",
       "      <td>897.569078</td>\n",
       "      <td>3</td>\n",
       "      <td>0.508</td>\n",
       "      <td>5.08</td>\n",
       "      <td>3.606986</td>\n",
       "      <td>36.069864</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>111</th>\n",
       "      <td>139</td>\n",
       "      <td>34.624</td>\n",
       "      <td>901.177743</td>\n",
       "      <td>4</td>\n",
       "      <td>0.508</td>\n",
       "      <td>5.08</td>\n",
       "      <td>3.608666</td>\n",
       "      <td>36.086655</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>244</th>\n",
       "      <td>244</td>\n",
       "      <td>34.372</td>\n",
       "      <td>1190.732581</td>\n",
       "      <td>3</td>\n",
       "      <td>0.307</td>\n",
       "      <td>3.07</td>\n",
       "      <td>4.981428</td>\n",
       "      <td>49.814277</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>245</th>\n",
       "      <td>244</td>\n",
       "      <td>34.680</td>\n",
       "      <td>1195.714628</td>\n",
       "      <td>4</td>\n",
       "      <td>0.308</td>\n",
       "      <td>3.08</td>\n",
       "      <td>4.982047</td>\n",
       "      <td>49.820469</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>260</th>\n",
       "      <td>275</td>\n",
       "      <td>34.998</td>\n",
       "      <td>2042.313416</td>\n",
       "      <td>3</td>\n",
       "      <td>0.350</td>\n",
       "      <td>3.50</td>\n",
       "      <td>2.886641</td>\n",
       "      <td>28.866406</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>261</th>\n",
       "      <td>275</td>\n",
       "      <td>35.260</td>\n",
       "      <td>2045.191139</td>\n",
       "      <td>4</td>\n",
       "      <td>0.262</td>\n",
       "      <td>2.62</td>\n",
       "      <td>2.877722</td>\n",
       "      <td>28.777222</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>274</th>\n",
       "      <td>317</td>\n",
       "      <td>34.810</td>\n",
       "      <td>369.452152</td>\n",
       "      <td>3</td>\n",
       "      <td>0.118</td>\n",
       "      <td>1.18</td>\n",
       "      <td>3.870516</td>\n",
       "      <td>38.705157</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>275</th>\n",
       "      <td>317</td>\n",
       "      <td>34.921</td>\n",
       "      <td>373.329235</td>\n",
       "      <td>4</td>\n",
       "      <td>0.111</td>\n",
       "      <td>1.11</td>\n",
       "      <td>3.877084</td>\n",
       "      <td>38.770836</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>320</th>\n",
       "      <td>381</td>\n",
       "      <td>34.621</td>\n",
       "      <td>1932.701805</td>\n",
       "      <td>3</td>\n",
       "      <td>0.368</td>\n",
       "      <td>3.68</td>\n",
       "      <td>3.480201</td>\n",
       "      <td>34.802013</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>321</th>\n",
       "      <td>381</td>\n",
       "      <td>34.986</td>\n",
       "      <td>1936.189699</td>\n",
       "      <td>4</td>\n",
       "      <td>0.365</td>\n",
       "      <td>3.65</td>\n",
       "      <td>3.487894</td>\n",
       "      <td>34.878938</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>344</th>\n",
       "      <td>417</td>\n",
       "      <td>34.689</td>\n",
       "      <td>1524.397582</td>\n",
       "      <td>3</td>\n",
       "      <td>0.380</td>\n",
       "      <td>3.80</td>\n",
       "      <td>1.951500</td>\n",
       "      <td>19.515001</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>345</th>\n",
       "      <td>417</td>\n",
       "      <td>35.110</td>\n",
       "      <td>1526.405798</td>\n",
       "      <td>4</td>\n",
       "      <td>0.421</td>\n",
       "      <td>4.21</td>\n",
       "      <td>2.008216</td>\n",
       "      <td>20.082160</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>384</th>\n",
       "      <td>439</td>\n",
       "      <td>34.705</td>\n",
       "      <td>582.317898</td>\n",
       "      <td>3</td>\n",
       "      <td>0.553</td>\n",
       "      <td>5.53</td>\n",
       "      <td>2.951300</td>\n",
       "      <td>29.513002</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>385</th>\n",
       "      <td>439</td>\n",
       "      <td>35.258</td>\n",
       "      <td>585.291395</td>\n",
       "      <td>4</td>\n",
       "      <td>0.553</td>\n",
       "      <td>5.53</td>\n",
       "      <td>2.973497</td>\n",
       "      <td>29.734970</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>624</th>\n",
       "      <td>642</td>\n",
       "      <td>34.128</td>\n",
       "      <td>796.733235</td>\n",
       "      <td>3</td>\n",
       "      <td>0.508</td>\n",
       "      <td>5.08</td>\n",
       "      <td>2.326528</td>\n",
       "      <td>23.265277</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>625</th>\n",
       "      <td>642</td>\n",
       "      <td>34.654</td>\n",
       "      <td>799.088685</td>\n",
       "      <td>4</td>\n",
       "      <td>0.526</td>\n",
       "      <td>5.26</td>\n",
       "      <td>2.355450</td>\n",
       "      <td>23.554497</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>644</th>\n",
       "      <td>659</td>\n",
       "      <td>34.670</td>\n",
       "      <td>547.808826</td>\n",
       "      <td>3</td>\n",
       "      <td>0.051</td>\n",
       "      <td>0.51</td>\n",
       "      <td>1.613661</td>\n",
       "      <td>16.136614</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>645</th>\n",
       "      <td>659</td>\n",
       "      <td>34.756</td>\n",
       "      <td>549.413869</td>\n",
       "      <td>4</td>\n",
       "      <td>0.086</td>\n",
       "      <td>0.86</td>\n",
       "      <td>1.605044</td>\n",
       "      <td>16.050435</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>796</th>\n",
       "      <td>914</td>\n",
       "      <td>34.282</td>\n",
       "      <td>134.802579</td>\n",
       "      <td>3</td>\n",
       "      <td>0.400</td>\n",
       "      <td>4.00</td>\n",
       "      <td>2.274574</td>\n",
       "      <td>22.745736</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>797</th>\n",
       "      <td>914</td>\n",
       "      <td>34.759</td>\n",
       "      <td>137.063423</td>\n",
       "      <td>4</td>\n",
       "      <td>0.477</td>\n",
       "      <td>4.77</td>\n",
       "      <td>2.260843</td>\n",
       "      <td>22.608435</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>986</th>\n",
       "      <td>1135</td>\n",
       "      <td>34.661</td>\n",
       "      <td>1365.790967</td>\n",
       "      <td>3</td>\n",
       "      <td>0.314</td>\n",
       "      <td>3.14</td>\n",
       "      <td>3.197784</td>\n",
       "      <td>31.977838</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>987</th>\n",
       "      <td>1135</td>\n",
       "      <td>34.971</td>\n",
       "      <td>1369.001758</td>\n",
       "      <td>4</td>\n",
       "      <td>0.310</td>\n",
       "      <td>3.10</td>\n",
       "      <td>3.210791</td>\n",
       "      <td>32.107911</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1004</th>\n",
       "      <td>1165</td>\n",
       "      <td>33.988</td>\n",
       "      <td>1009.241003</td>\n",
       "      <td>3</td>\n",
       "      <td>0.269</td>\n",
       "      <td>2.69</td>\n",
       "      <td>4.117684</td>\n",
       "      <td>41.176840</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1005</th>\n",
       "      <td>1165</td>\n",
       "      <td>34.249</td>\n",
       "      <td>1013.364282</td>\n",
       "      <td>4</td>\n",
       "      <td>0.261</td>\n",
       "      <td>2.61</td>\n",
       "      <td>4.123278</td>\n",
       "      <td>41.232784</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1040</th>\n",
       "      <td>1220</td>\n",
       "      <td>35.253</td>\n",
       "      <td>485.197425</td>\n",
       "      <td>3</td>\n",
       "      <td>0.089</td>\n",
       "      <td>0.89</td>\n",
       "      <td>3.847327</td>\n",
       "      <td>38.473267</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1041</th>\n",
       "      <td>1220</td>\n",
       "      <td>35.344</td>\n",
       "      <td>489.066214</td>\n",
       "      <td>4</td>\n",
       "      <td>0.091</td>\n",
       "      <td>0.91</td>\n",
       "      <td>3.868789</td>\n",
       "      <td>38.687894</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1138</th>\n",
       "      <td>1352</td>\n",
       "      <td>34.564</td>\n",
       "      <td>578.526468</td>\n",
       "      <td>3</td>\n",
       "      <td>0.353</td>\n",
       "      <td>3.53</td>\n",
       "      <td>4.141671</td>\n",
       "      <td>41.416709</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1139</th>\n",
       "      <td>1352</td>\n",
       "      <td>35.052</td>\n",
       "      <td>582.671874</td>\n",
       "      <td>4</td>\n",
       "      <td>0.488</td>\n",
       "      <td>4.88</td>\n",
       "      <td>4.145405</td>\n",
       "      <td>41.454051</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1152</th>\n",
       "      <td>1359</td>\n",
       "      <td>35.531</td>\n",
       "      <td>1680.727960</td>\n",
       "      <td>3</td>\n",
       "      <td>0.303</td>\n",
       "      <td>3.03</td>\n",
       "      <td>4.483405</td>\n",
       "      <td>44.834051</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1153</th>\n",
       "      <td>1359</td>\n",
       "      <td>35.834</td>\n",
       "      <td>1685.209921</td>\n",
       "      <td>4</td>\n",
       "      <td>0.303</td>\n",
       "      <td>3.03</td>\n",
       "      <td>4.481961</td>\n",
       "      <td>44.819606</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1378</th>\n",
       "      <td>1812</td>\n",
       "      <td>34.784</td>\n",
       "      <td>631.668111</td>\n",
       "      <td>3</td>\n",
       "      <td>0.182</td>\n",
       "      <td>1.82</td>\n",
       "      <td>3.800024</td>\n",
       "      <td>38.000242</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1379</th>\n",
       "      <td>1812</td>\n",
       "      <td>34.967</td>\n",
       "      <td>635.469902</td>\n",
       "      <td>4</td>\n",
       "      <td>0.183</td>\n",
       "      <td>1.83</td>\n",
       "      <td>3.801791</td>\n",
       "      <td>38.017909</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "2             11   35.032  2030.025850        3  0.379  3.79  5.202075   \n",
       "3             11   35.269  2035.220962        4  0.237  2.37  5.195111   \n",
       "26            44   34.412  1761.695888        3  0.119  1.19  4.960545   \n",
       "27            44   34.691  1766.647035        4  0.279  2.79  4.951147   \n",
       "56            71   33.936   991.947386        3  0.472  4.72  4.079664   \n",
       "57            71   34.317   996.046792        4  0.381  3.81  4.099407   \n",
       "66            80   34.618  1920.672496        3  0.190  1.90  4.210738   \n",
       "67            80   34.828  1924.854084        4  0.210  2.10  4.181588   \n",
       "110          139   34.116   897.569078        3  0.508  5.08  3.606986   \n",
       "111          139   34.624   901.177743        4  0.508  5.08  3.608666   \n",
       "244          244   34.372  1190.732581        3  0.307  3.07  4.981428   \n",
       "245          244   34.680  1195.714628        4  0.308  3.08  4.982047   \n",
       "260          275   34.998  2042.313416        3  0.350  3.50  2.886641   \n",
       "261          275   35.260  2045.191139        4  0.262  2.62  2.877722   \n",
       "274          317   34.810   369.452152        3  0.118  1.18  3.870516   \n",
       "275          317   34.921   373.329235        4  0.111  1.11  3.877084   \n",
       "320          381   34.621  1932.701805        3  0.368  3.68  3.480201   \n",
       "321          381   34.986  1936.189699        4  0.365  3.65  3.487894   \n",
       "344          417   34.689  1524.397582        3  0.380  3.80  1.951500   \n",
       "345          417   35.110  1526.405798        4  0.421  4.21  2.008216   \n",
       "384          439   34.705   582.317898        3  0.553  5.53  2.951300   \n",
       "385          439   35.258   585.291395        4  0.553  5.53  2.973497   \n",
       "624          642   34.128   796.733235        3  0.508  5.08  2.326528   \n",
       "625          642   34.654   799.088685        4  0.526  5.26  2.355450   \n",
       "644          659   34.670   547.808826        3  0.051  0.51  1.613661   \n",
       "645          659   34.756   549.413869        4  0.086  0.86  1.605044   \n",
       "796          914   34.282   134.802579        3  0.400  4.00  2.274574   \n",
       "797          914   34.759   137.063423        4  0.477  4.77  2.260843   \n",
       "986         1135   34.661  1365.790967        3  0.314  3.14  3.197784   \n",
       "987         1135   34.971  1369.001758        4  0.310  3.10  3.210791   \n",
       "1004        1165   33.988  1009.241003        3  0.269  2.69  4.117684   \n",
       "1005        1165   34.249  1013.364282        4  0.261  2.61  4.123278   \n",
       "1040        1220   35.253   485.197425        3  0.089  0.89  3.847327   \n",
       "1041        1220   35.344   489.066214        4  0.091  0.91  3.868789   \n",
       "1138        1352   34.564   578.526468        3  0.353  3.53  4.141671   \n",
       "1139        1352   35.052   582.671874        4  0.488  4.88  4.145405   \n",
       "1152        1359   35.531  1680.727960        3  0.303  3.03  4.483405   \n",
       "1153        1359   35.834  1685.209921        4  0.303  3.03  4.481961   \n",
       "1378        1812   34.784   631.668111        3  0.182  1.82  3.800024   \n",
       "1379        1812   34.967   635.469902        4  0.183  1.83  3.801791   \n",
       "\n",
       "            y_v  \n",
       "2     52.020748  \n",
       "3     51.951113  \n",
       "26    49.605449  \n",
       "27    49.511470  \n",
       "56    40.796641  \n",
       "57    40.994065  \n",
       "66    42.107378  \n",
       "67    41.815880  \n",
       "110   36.069864  \n",
       "111   36.086655  \n",
       "244   49.814277  \n",
       "245   49.820469  \n",
       "260   28.866406  \n",
       "261   28.777222  \n",
       "274   38.705157  \n",
       "275   38.770836  \n",
       "320   34.802013  \n",
       "321   34.878938  \n",
       "344   19.515001  \n",
       "345   20.082160  \n",
       "384   29.513002  \n",
       "385   29.734970  \n",
       "624   23.265277  \n",
       "625   23.554497  \n",
       "644   16.136614  \n",
       "645   16.050435  \n",
       "796   22.745736  \n",
       "797   22.608435  \n",
       "986   31.977838  \n",
       "987   32.107911  \n",
       "1004  41.176840  \n",
       "1005  41.232784  \n",
       "1040  38.473267  \n",
       "1041  38.687894  \n",
       "1138  41.416709  \n",
       "1139  41.454051  \n",
       "1152  44.834051  \n",
       "1153  44.819606  \n",
       "1378  38.000242  \n",
       "1379  38.017909  "
      ]
     },
     "execution_count": 43,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane34_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 44,
   "id": "8866160b-d5d0-40b1-89e4-c43978a8b9fc",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID34=change_lane34_local['Vehicle_ID']\n",
    "Vehicle_ID34.tolist()\n",
    "set(Vehicle_ID34)\n",
    "Vehicle_ID34=set(Vehicle_ID34)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 45,
   "id": "7d41e326-465c-44f1-87d6-9361f86539d3",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Lane_ID</th>\n",
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       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
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       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>11</td>\n",
       "      <td>35.197</td>\n",
       "      <td>2060.954255</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.060</td>\n",
       "      <td>-0.60</td>\n",
       "      <td>5.113555</td>\n",
       "      <td>51.135546</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>11</td>\n",
       "      <td>35.122</td>\n",
       "      <td>2066.059030</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.075</td>\n",
       "      <td>-0.75</td>\n",
       "      <td>5.104775</td>\n",
       "      <td>51.047746</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>34</th>\n",
       "      <td>48</td>\n",
       "      <td>34.812</td>\n",
       "      <td>1298.727249</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.155</td>\n",
       "      <td>-1.55</td>\n",
       "      <td>4.489408</td>\n",
       "      <td>44.894085</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>35</th>\n",
       "      <td>48</td>\n",
       "      <td>34.644</td>\n",
       "      <td>1303.216725</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.168</td>\n",
       "      <td>-1.68</td>\n",
       "      <td>4.489476</td>\n",
       "      <td>44.894758</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>50</th>\n",
       "      <td>67</td>\n",
       "      <td>33.393</td>\n",
       "      <td>57.418510</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.304</td>\n",
       "      <td>-3.04</td>\n",
       "      <td>2.791160</td>\n",
       "      <td>27.911605</td>\n",
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       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1357</th>\n",
       "      <td>1769</td>\n",
       "      <td>34.894</td>\n",
       "      <td>1577.691860</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.551</td>\n",
       "      <td>-5.51</td>\n",
       "      <td>2.277341</td>\n",
       "      <td>22.773407</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1384</th>\n",
       "      <td>1822</td>\n",
       "      <td>34.758</td>\n",
       "      <td>388.138589</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.208</td>\n",
       "      <td>-2.08</td>\n",
       "      <td>3.282104</td>\n",
       "      <td>32.821042</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1385</th>\n",
       "      <td>1822</td>\n",
       "      <td>34.551</td>\n",
       "      <td>391.434860</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.207</td>\n",
       "      <td>-2.07</td>\n",
       "      <td>3.296270</td>\n",
       "      <td>32.962704</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1406</th>\n",
       "      <td>1896</td>\n",
       "      <td>34.139</td>\n",
       "      <td>176.647893</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.458</td>\n",
       "      <td>-4.58</td>\n",
       "      <td>3.436188</td>\n",
       "      <td>34.361884</td>\n",
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       "    <tr>\n",
       "      <th>1407</th>\n",
       "      <td>1896</td>\n",
       "      <td>33.682</td>\n",
       "      <td>180.100244</td>\n",
       "      <td>3</td>\n",
       "      <td>-0.457</td>\n",
       "      <td>-4.57</td>\n",
       "      <td>3.452351</td>\n",
       "      <td>34.523511</td>\n",
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       "<p>128 rows × 8 columns</p>\n",
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       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "4             11   35.197  2060.954255        4 -0.060 -0.60  5.113555   \n",
       "5             11   35.122  2066.059030        3 -0.075 -0.75  5.104775   \n",
       "34            48   34.812  1298.727249        4 -0.155 -1.55  4.489408   \n",
       "35            48   34.644  1303.216725        3 -0.168 -1.68  4.489476   \n",
       "50            67   33.393    57.418510        4 -0.304 -3.04  2.791160   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1357        1769   34.894  1577.691860        3 -0.551 -5.51  2.277341   \n",
       "1384        1822   34.758   388.138589        4 -0.208 -2.08  3.282104   \n",
       "1385        1822   34.551   391.434860        3 -0.207 -2.07  3.296270   \n",
       "1406        1896   34.139   176.647893        4 -0.458 -4.58  3.436188   \n",
       "1407        1896   33.682   180.100244        3 -0.457 -4.57  3.452351   \n",
       "\n",
       "            y_v  \n",
       "4     51.135546  \n",
       "5     51.047746  \n",
       "34    44.894085  \n",
       "35    44.894758  \n",
       "50    27.911605  \n",
       "...         ...  \n",
       "1357  22.773407  \n",
       "1384  32.821042  \n",
       "1385  32.962704  \n",
       "1406  34.361884  \n",
       "1407  34.523511  \n",
       "\n",
       "[128 rows x 8 columns]"
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     },
     "execution_count": 45,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane43_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 46,
   "id": "2429589f-ab32-4267-bb1d-110ef4177596",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID43=change_lane43_local['Vehicle_ID']\n",
    "Vehicle_ID43.tolist()\n",
    "set(Vehicle_ID43)\n",
    "Vehicle_ID43=set(Vehicle_ID43)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 47,
   "id": "86cd177a-94ad-484f-9fa0-af867296b5db",
   "metadata": {},
   "outputs": [
    {
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       "      <th>6</th>\n",
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       "      <td>46.026</td>\n",
       "      <td>2051.582391</td>\n",
       "      <td>4</td>\n",
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       "      <td>4.08</td>\n",
       "      <td>5.525854</td>\n",
       "      <td>55.258538</td>\n",
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       "      <th>7</th>\n",
       "      <td>20</td>\n",
       "      <td>46.283</td>\n",
       "      <td>2057.106558</td>\n",
       "      <td>5</td>\n",
       "      <td>0.257</td>\n",
       "      <td>2.57</td>\n",
       "      <td>5.524167</td>\n",
       "      <td>55.241665</td>\n",
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       "    <tr>\n",
       "      <th>10</th>\n",
       "      <td>20</td>\n",
       "      <td>46.468</td>\n",
       "      <td>2144.503933</td>\n",
       "      <td>4</td>\n",
       "      <td>0.000</td>\n",
       "      <td>0.00</td>\n",
       "      <td>5.426480</td>\n",
       "      <td>54.264799</td>\n",
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       "    <tr>\n",
       "      <th>11</th>\n",
       "      <td>20</td>\n",
       "      <td>46.467</td>\n",
       "      <td>2149.885897</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.001</td>\n",
       "      <td>-0.01</td>\n",
       "      <td>5.381963</td>\n",
       "      <td>53.819635</td>\n",
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       "    <tr>\n",
       "      <th>14</th>\n",
       "      <td>31</td>\n",
       "      <td>46.286</td>\n",
       "      <td>2154.962023</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.240</td>\n",
       "      <td>-2.40</td>\n",
       "      <td>5.267165</td>\n",
       "      <td>52.671646</td>\n",
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       "    <tr>\n",
       "      <th>1279</th>\n",
       "      <td>1604</td>\n",
       "      <td>45.484</td>\n",
       "      <td>1137.533744</td>\n",
       "      <td>5</td>\n",
       "      <td>0.331</td>\n",
       "      <td>3.31</td>\n",
       "      <td>4.176279</td>\n",
       "      <td>41.762792</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1336</th>\n",
       "      <td>1742</td>\n",
       "      <td>45.308</td>\n",
       "      <td>705.639520</td>\n",
       "      <td>4</td>\n",
       "      <td>0.296</td>\n",
       "      <td>2.96</td>\n",
       "      <td>3.685245</td>\n",
       "      <td>36.852448</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1337</th>\n",
       "      <td>1742</td>\n",
       "      <td>45.616</td>\n",
       "      <td>709.352155</td>\n",
       "      <td>5</td>\n",
       "      <td>0.308</td>\n",
       "      <td>3.08</td>\n",
       "      <td>3.712635</td>\n",
       "      <td>37.126355</td>\n",
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       "    <tr>\n",
       "      <th>1412</th>\n",
       "      <td>1906</td>\n",
       "      <td>46.163</td>\n",
       "      <td>2050.120197</td>\n",
       "      <td>4</td>\n",
       "      <td>0.098</td>\n",
       "      <td>0.98</td>\n",
       "      <td>3.927146</td>\n",
       "      <td>39.271455</td>\n",
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       "    <tr>\n",
       "      <th>1413</th>\n",
       "      <td>1906</td>\n",
       "      <td>46.281</td>\n",
       "      <td>2054.048564</td>\n",
       "      <td>5</td>\n",
       "      <td>0.118</td>\n",
       "      <td>1.18</td>\n",
       "      <td>3.928367</td>\n",
       "      <td>39.283672</td>\n",
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       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "6             20   46.026  2051.582391        4  0.408  4.08  5.525854   \n",
       "7             20   46.283  2057.106558        5  0.257  2.57  5.524167   \n",
       "10            20   46.468  2144.503933        4  0.000  0.00  5.426480   \n",
       "11            20   46.467  2149.885897        5 -0.001 -0.01  5.381963   \n",
       "14            31   46.286  2154.962023        4 -0.240 -2.40  5.267165   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1279        1604   45.484  1137.533744        5  0.331  3.31  4.176279   \n",
       "1336        1742   45.308   705.639520        4  0.296  2.96  3.685245   \n",
       "1337        1742   45.616   709.352155        5  0.308  3.08  3.712635   \n",
       "1412        1906   46.163  2050.120197        4  0.098  0.98  3.927146   \n",
       "1413        1906   46.281  2054.048564        5  0.118  1.18  3.928367   \n",
       "\n",
       "            y_v  \n",
       "6     55.258538  \n",
       "7     55.241665  \n",
       "10    54.264799  \n",
       "11    53.819635  \n",
       "14    52.671646  \n",
       "...         ...  \n",
       "1279  41.762792  \n",
       "1336  36.852448  \n",
       "1337  37.126355  \n",
       "1412  39.271455  \n",
       "1413  39.283672  \n",
       "\n",
       "[80 rows x 8 columns]"
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     },
     "execution_count": 47,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane45_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "id": "9253f02e-2480-470a-a10d-6247164a57ab",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID45=change_lane45_local['Vehicle_ID']\n",
    "Vehicle_ID45.tolist()\n",
    "set(Vehicle_ID45)\n",
    "Vehicle_ID45=set(Vehicle_ID45)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "id": "74e47b21-265a-47cb-87a5-4ca614765e02",
   "metadata": {},
   "outputs": [
    {
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       "      <td>5</td>\n",
       "      <td>-0.399</td>\n",
       "      <td>-3.99</td>\n",
       "      <td>3.356294</td>\n",
       "      <td>33.562935</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>6</td>\n",
       "      <td>44.856</td>\n",
       "      <td>858.414958</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.387</td>\n",
       "      <td>-3.87</td>\n",
       "      <td>3.367336</td>\n",
       "      <td>33.673356</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>20</td>\n",
       "      <td>46.452</td>\n",
       "      <td>2106.473399</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.001</td>\n",
       "      <td>-0.01</td>\n",
       "      <td>5.452859</td>\n",
       "      <td>54.528588</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>9</th>\n",
       "      <td>20</td>\n",
       "      <td>46.452</td>\n",
       "      <td>2111.920435</td>\n",
       "      <td>4</td>\n",
       "      <td>0.000</td>\n",
       "      <td>0.00</td>\n",
       "      <td>5.447036</td>\n",
       "      <td>54.470359</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>12</th>\n",
       "      <td>31</td>\n",
       "      <td>46.526</td>\n",
       "      <td>2149.694859</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.245</td>\n",
       "      <td>-2.45</td>\n",
       "      <td>5.260299</td>\n",
       "      <td>52.602991</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1347</th>\n",
       "      <td>1747</td>\n",
       "      <td>46.019</td>\n",
       "      <td>1981.638015</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.194</td>\n",
       "      <td>-1.94</td>\n",
       "      <td>3.396491</td>\n",
       "      <td>33.964914</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1364</th>\n",
       "      <td>1775</td>\n",
       "      <td>45.894</td>\n",
       "      <td>1850.034661</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.210</td>\n",
       "      <td>-2.10</td>\n",
       "      <td>3.579105</td>\n",
       "      <td>35.791053</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1365</th>\n",
       "      <td>1775</td>\n",
       "      <td>45.687</td>\n",
       "      <td>1853.633709</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.207</td>\n",
       "      <td>-2.07</td>\n",
       "      <td>3.599049</td>\n",
       "      <td>35.990487</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1414</th>\n",
       "      <td>1906</td>\n",
       "      <td>46.294</td>\n",
       "      <td>2065.833354</td>\n",
       "      <td>5</td>\n",
       "      <td>-0.040</td>\n",
       "      <td>-0.40</td>\n",
       "      <td>3.928806</td>\n",
       "      <td>39.288055</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1415</th>\n",
       "      <td>1906</td>\n",
       "      <td>46.246</td>\n",
       "      <td>2069.765538</td>\n",
       "      <td>4</td>\n",
       "      <td>-0.048</td>\n",
       "      <td>-0.48</td>\n",
       "      <td>3.932184</td>\n",
       "      <td>39.321842</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>154 rows × 8 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "      Vehicle_ID  Local_X      Local_Y  Lane_ID      x   x_a         y  \\\n",
       "0              6   45.243   855.047622        5 -0.399 -3.99  3.356294   \n",
       "1              6   44.856   858.414958        4 -0.387 -3.87  3.367336   \n",
       "8             20   46.452  2106.473399        5 -0.001 -0.01  5.452859   \n",
       "9             20   46.452  2111.920435        4  0.000  0.00  5.447036   \n",
       "12            31   46.526  2149.694859        5 -0.245 -2.45  5.260299   \n",
       "...          ...      ...          ...      ...    ...   ...       ...   \n",
       "1347        1747   46.019  1981.638015        4 -0.194 -1.94  3.396491   \n",
       "1364        1775   45.894  1850.034661        5 -0.210 -2.10  3.579105   \n",
       "1365        1775   45.687  1853.633709        4 -0.207 -2.07  3.599049   \n",
       "1414        1906   46.294  2065.833354        5 -0.040 -0.40  3.928806   \n",
       "1415        1906   46.246  2069.765538        4 -0.048 -0.48  3.932184   \n",
       "\n",
       "            y_v  \n",
       "0     33.562935  \n",
       "1     33.673356  \n",
       "8     54.528588  \n",
       "9     54.470359  \n",
       "12    52.602991  \n",
       "...         ...  \n",
       "1347  33.964914  \n",
       "1364  35.791053  \n",
       "1365  35.990487  \n",
       "1414  39.288055  \n",
       "1415  39.321842  \n",
       "\n",
       "[154 rows x 8 columns]"
      ]
     },
     "execution_count": 49,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane54_local"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 50,
   "id": "905a1b48-efdf-44ed-8540-73912507b07d",
   "metadata": {},
   "outputs": [],
   "source": [
    "Vehicle_ID54=change_lane54_local['Vehicle_ID']\n",
    "Vehicle_ID54.tolist()\n",
    "Vehicle_ID54=set(Vehicle_ID54)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "id": "afdb0798-4b30-49fd-97ba-9fa510d42fa6",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{49,\n",
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       " 1810,\n",
       " 1835,\n",
       " 1863,\n",
       " 1873,\n",
       " 1914}"
      ]
     },
     "execution_count": 51,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Vehicle_ID12|Vehicle_ID21"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 52,
   "id": "07491e5b-6c09-4981-b9a0-35bfdd0bd82e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " 1017]"
      ]
     },
     "execution_count": 52,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "change_lane_ID15=Vehicle_ID12|Vehicle_ID21|Vehicle_ID23|Vehicle_ID32|Vehicle_ID34|Vehicle_ID43|Vehicle_ID45|Vehicle_ID54\n",
    "change_lane_ID15=list(change_lane_ID15)\n",
    "change_lane_ID15"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "id": "d60ea450-1f29-4ff9-a6d9-63a70dda0595",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "257"
      ]
     },
     "execution_count": 53,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(change_lane_ID15)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "f84ed361-56aa-42ec-ac3a-7b37e151300d",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "id": "91cda44a-2d66-41e5-a649-b0af1cc48dde",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "190"
      ]
     },
     "execution_count": 54,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TR_ID15=Vehicle_ID12|Vehicle_ID23|Vehicle_ID34|Vehicle_ID45\n",
    "TL_ID15=Vehicle_ID21|Vehicle_ID32|Vehicle_ID43|Vehicle_ID54\n",
    "TR_ID15=list(TR_ID15)\n",
    "TL_ID15=list(TL_ID15)\n",
    "len(TL_ID15)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 79,
   "id": "fa739835-e885-43c9-a738-d2397d7295de",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "93"
      ]
     },
     "execution_count": 79,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(TR_ID15)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "id": "104c5403-33c4-4639-8bed-8581b1b25a3c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " 1896,\n",
       " 366,\n",
       " 1906,\n",
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     },
     "execution_count": 55,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CL_train=change_lane_ID15\n",
    "CL_train"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "id": "93caf003-bef1-4bea-8698-31db61b86f81",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "C:\\Users\\dell\\AppData\\Local\\Temp\\ipykernel_27588\\2100989694.py:2: SettingWithCopyWarning: \n",
      "A value is trying to be set on a copy of a slice from a DataFrame.\n",
      "Try using .loc[row_indexer,col_indexer] = value instead\n",
      "\n",
      "See the caveats in the documentation: https://pandas.pydata.org/pandas-docs/stable/user_guide/indexing.html#returning-a-view-versus-a-copy\n",
      "  TR_ID15_csv['label']=2\n",
      "C:\\Users\\dell\\AppData\\Local\\Temp\\ipykernel_27588\\2100989694.py:4: SettingWithCopyWarning: \n",
      "A value is trying to be set on a copy of a slice from a DataFrame.\n",
      "Try using .loc[row_indexer,col_indexer] = value instead\n",
      "\n",
      "See the caveats in the documentation: https://pandas.pydata.org/pandas-docs/stable/user_guide/indexing.html#returning-a-view-versus-a-copy\n",
      "  TL_ID15_csv['label']=1\n"
     ]
    },
    {
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   "source": [
    "TR_ID15_csv=f[f.Vehicle_ID.isin(TR_ID15)]\n",
    "TR_ID15_csv['label']=2\n",
    "TL_ID15_csv=f[f.Vehicle_ID.isin(TL_ID15)]\n",
    "TL_ID15_csv['label']=1\n",
    "TR_ID15_csv=TR_ID15_csv.reset_index(drop=True)\n",
    "TL_ID15_csv=TL_ID15_csv.reset_index(drop=True)\n",
    "TR_ID15"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "id": "bd2fd471-95b2-47f9-889d-4e5e29fa5d90",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "93"
      ]
     },
     "execution_count": 57,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "TR_ID15_csv['Vehicle_ID'].nunique()"
   ]
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   "cell_type": "code",
   "execution_count": 58,
   "id": "30c46f91-9c13-4cab-b0f7-6ab3e7b13079",
   "metadata": {},
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   "source": [
    "TR_row=[]\n",
    "TL_row=[]\n",
    "TR_local_row=lane_local12_row+lane_local23_row+lane_local34_row+lane_local45_row\n",
    "TL_local_row=lane_local21_row+lane_local32_row+lane_local43_row+lane_local54_row\n",
    "TR_num=int(len(TR_local_row)/2)\n",
    "for i in range(TR_num):\n",
    "    TR_row.append(TR_local_row[2*i])\n",
    "TL_num=int(len(TL_local_row)/2)\n",
    "for i in range(TL_num):\n",
    "    TL_row.append(TL_local_row[2*i])\n",
    "TL_row"
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   "execution_count": 59,
   "id": "386c1e8c-c808-4f45-aa74-eea816d18e87",
   "metadata": {},
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       "      <td>...</td>\n",
       "      <td>0.081872</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.97</td>\n",
       "      <td>2.34</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.493007</td>\n",
       "      <td>14.930065</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165370</th>\n",
       "      <td>1914</td>\n",
       "      <td>7371</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579100</td>\n",
       "      <td>6.777</td>\n",
       "      <td>952.573760</td>\n",
       "      <td>6451783.407</td>\n",
       "      <td>1872750.195</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>0.263743</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.82</td>\n",
       "      <td>2.32</td>\n",
       "      <td>0.014</td>\n",
       "      <td>0.14</td>\n",
       "      <td>1.491369</td>\n",
       "      <td>14.913686</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165371</th>\n",
       "      <td>1914</td>\n",
       "      <td>7372</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579200</td>\n",
       "      <td>6.789</td>\n",
       "      <td>954.071356</td>\n",
       "      <td>6451784.531</td>\n",
       "      <td>1872749.202</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>0.109495</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.66</td>\n",
       "      <td>2.31</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.497596</td>\n",
       "      <td>14.975964</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165372</th>\n",
       "      <td>1914</td>\n",
       "      <td>7373</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848579300</td>\n",
       "      <td>6.801</td>\n",
       "      <td>955.572000</td>\n",
       "      <td>6451785.655</td>\n",
       "      <td>1872748.209</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>0.000000</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>34.49</td>\n",
       "      <td>2.30</td>\n",
       "      <td>0.012</td>\n",
       "      <td>0.12</td>\n",
       "      <td>1.500644</td>\n",
       "      <td>15.006441</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>165373 rows × 22 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "        Vehicle_ID  Frame_ID  Total_Frames    Global_Time  Local_X  \\\n",
       "0                6       299           577  1118847871900   52.102   \n",
       "1                6       300           577  1118847872000   52.092   \n",
       "2                6       301           577  1118847872100   52.081   \n",
       "3                6       302           577  1118847872200   52.071   \n",
       "4                6       303           577  1118847872300   52.061   \n",
       "...            ...       ...           ...            ...      ...   \n",
       "165368        1914      7369           923  1118848578900    6.751   \n",
       "165369        1914      7370           923  1118848579000    6.763   \n",
       "165370        1914      7371           923  1118848579100    6.777   \n",
       "165371        1914      7372           923  1118848579200    6.789   \n",
       "165372        1914      7373           923  1118848579300    6.801   \n",
       "\n",
       "           Local_Y     Global_X     Global_Y  v_Length  v_Width  ...  \\\n",
       "0        83.973000  6451116.692  1873314.958      15.5      7.4  ...   \n",
       "1        85.973000  6451118.036  1873313.477      15.5      7.4  ...   \n",
       "2        87.973000  6451119.381  1873311.997      15.5      7.4  ...   \n",
       "3        89.973000  6451120.725  1873310.516      15.5      7.4  ...   \n",
       "4        91.973000  6451122.069  1873309.035      15.5      7.4  ...   \n",
       "...            ...          ...          ...       ...      ...  ...   \n",
       "165368  949.589384  6451781.160  1872752.182      16.5      6.4  ...   \n",
       "165369  951.082391  6451782.284  1872751.189      16.5      6.4  ...   \n",
       "165370  952.573760  6451783.407  1872750.195      16.5      6.4  ...   \n",
       "165371  954.071356  6451784.531  1872749.202      16.5      6.4  ...   \n",
       "165372  955.572000  6451785.655  1872748.209      16.5      6.4  ...   \n",
       "\n",
       "           v_Acc  Lane_ID  Preceeding  Following  Space_Hdwy  Time_Hdwy  \\\n",
       "0       0.000000        5           1          0       85.95       4.30   \n",
       "1       0.000000        5           1          0       85.94       4.30   \n",
       "2       0.000000        5           1          0       85.94       4.30   \n",
       "3       0.000000        5           1          0       85.95       4.30   \n",
       "4       0.000000        5           1          0       86.03       4.30   \n",
       "...          ...      ...         ...        ...         ...        ...   \n",
       "165368  0.012011        1        1909       1917       35.13       2.36   \n",
       "165369  0.081872        1        1909       1917       34.97       2.34   \n",
       "165370  0.263743        1        1909       1917       34.82       2.32   \n",
       "165371  0.109495        1        1909       1917       34.66       2.31   \n",
       "165372  0.000000        1        1909       1917       34.49       2.30   \n",
       "\n",
       "            x   x_a         y        y_v  \n",
       "0      -0.010 -0.10  2.000000  20.000000  \n",
       "1      -0.010 -0.10  2.000000  20.000000  \n",
       "2      -0.011 -0.11  2.000000  20.000000  \n",
       "3      -0.010 -0.10  2.000000  20.000000  \n",
       "4      -0.010 -0.10  2.000000  20.000000  \n",
       "...       ...   ...       ...        ...  \n",
       "165368  0.009  0.09  1.495143  14.951429  \n",
       "165369  0.012  0.12  1.493007  14.930065  \n",
       "165370  0.014  0.14  1.491369  14.913686  \n",
       "165371  0.012  0.12  1.497596  14.975964  \n",
       "165372  0.012  0.12  1.500644  15.006441  \n",
       "\n",
       "[165373 rows x 22 columns]"
      ]
     },
     "execution_count": 59,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CL_train_csv=f[f.Vehicle_ID.isin(CL_train)]\n",
    "# CL_train_csv['label']=1\n",
    "CL_train_csv=CL_train_csv.reset_index(drop=True)\n",
    "CL_train_csv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 80,
   "id": "135c2206-d028-4b8b-b489-6f116916d5c4",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "257"
      ]
     },
     "execution_count": 80,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CL_train_csv['Vehicle_ID'].nunique()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "id": "6c676413-2a22-41ad-b89d-e503b137501e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " ...]"
      ]
     },
     "execution_count": 60,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import numpy as np\n",
    "b=[]\n",
    "change_vehicle_row40=[]\n",
    "Vehicle_ID40=[]\n",
    "for i in range(len(CL_train_csv)):\n",
    "    if i<=40:\n",
    "        continue\n",
    "    else:\n",
    "        if CL_train_csv['Vehicle_ID'][i]==CL_train_csv['Vehicle_ID'][i-1] ==CL_train_csv['Vehicle_ID'][i-40] and CL_train_csv['Lane_ID'][i]!=CL_train_csv['Lane_ID'][i-1]:\n",
    "            x=list(CL_train_csv['Lane_ID'][i-40:i])\n",
    "            lane_num=len(set(x))\n",
    "            if lane_num==1:\n",
    "                b.extend(a for a in range(i-40,i+1))\n",
    "for i in b:\n",
    "    if i>=0:\n",
    "        change_vehicle_row40.append(i)\n",
    "change_vehicle_row40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "id": "22da6078-2400-4da9-96db-4429071daa7a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "333.0"
      ]
     },
     "execution_count": 61,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(change_vehicle_row40)/41"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "id": "12da7b04-b174-49f0-8d62-cb2f0cdb5f09",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
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       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
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       "      <td>-0.74</td>\n",
       "      <td>2.893887</td>\n",
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       "      <td>1939</td>\n",
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       "      <td>-0.332</td>\n",
       "      <td>-3.32</td>\n",
       "      <td>3.389018</td>\n",
       "      <td>33.890178</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165002</th>\n",
       "      <td>1914</td>\n",
       "      <td>7003</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848542300</td>\n",
       "      <td>12.212</td>\n",
       "      <td>376.649614</td>\n",
       "      <td>6451351.221</td>\n",
       "      <td>1873129.677</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>-1.942366</td>\n",
       "      <td>2</td>\n",
       "      <td>1928</td>\n",
       "      <td>1939</td>\n",
       "      <td>40.62</td>\n",
       "      <td>1.25</td>\n",
       "      <td>-0.307</td>\n",
       "      <td>-3.07</td>\n",
       "      <td>3.368645</td>\n",
       "      <td>33.686446</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165003</th>\n",
       "      <td>1914</td>\n",
       "      <td>7004</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848542400</td>\n",
       "      <td>11.904</td>\n",
       "      <td>379.999326</td>\n",
       "      <td>6451353.771</td>\n",
       "      <td>1873127.640</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>-1.840038</td>\n",
       "      <td>2</td>\n",
       "      <td>1928</td>\n",
       "      <td>1939</td>\n",
       "      <td>40.37</td>\n",
       "      <td>1.24</td>\n",
       "      <td>-0.308</td>\n",
       "      <td>-3.08</td>\n",
       "      <td>3.349713</td>\n",
       "      <td>33.497126</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>165004</th>\n",
       "      <td>1914</td>\n",
       "      <td>7005</td>\n",
       "      <td>923</td>\n",
       "      <td>1118848542500</td>\n",
       "      <td>11.597</td>\n",
       "      <td>383.331093</td>\n",
       "      <td>6451356.321</td>\n",
       "      <td>1873125.603</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
       "      <td>-1.778293</td>\n",
       "      <td>1</td>\n",
       "      <td>1909</td>\n",
       "      <td>1917</td>\n",
       "      <td>28.63</td>\n",
       "      <td>0.88</td>\n",
       "      <td>-0.307</td>\n",
       "      <td>-3.07</td>\n",
       "      <td>3.331766</td>\n",
       "      <td>33.317664</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>13653 rows × 22 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "        Vehicle_ID  Frame_ID  Total_Frames    Global_Time  Local_X  \\\n",
       "238              6       537           577  1118847895700   51.327   \n",
       "239              6       538           577  1118847895800   51.259   \n",
       "240              6       539           577  1118847895900   51.185   \n",
       "241              6       540           577  1118847896000   51.156   \n",
       "242              6       541           577  1118847896100   51.132   \n",
       "...            ...       ...           ...            ...      ...   \n",
       "165000        1914      7001           923  1118848542100   12.851   \n",
       "165001        1914      7002           923  1118848542200   12.519   \n",
       "165002        1914      7003           923  1118848542300   12.212   \n",
       "165003        1914      7004           923  1118848542400   11.904   \n",
       "165004        1914      7005           923  1118848542500   11.597   \n",
       "\n",
       "           Local_Y     Global_X     Global_Y  v_Length  v_Width  ...  \\\n",
       "238     738.159285  6451593.879  1872857.446      15.5      7.4  ...   \n",
       "239     741.069808  6451596.178  1872855.518      15.5      7.4  ...   \n",
       "240     743.963695  6451598.500  1872853.578      15.5      7.4  ...   \n",
       "241     746.840082  6451600.740  1872851.650      15.5      7.4  ...   \n",
       "242     749.698492  6451602.894  1872849.790      15.5      7.4  ...   \n",
       "...            ...          ...          ...       ...      ...  ...   \n",
       "165000  369.891951  6451346.112  1873133.726      16.5      6.4  ...   \n",
       "165001  373.280969  6451348.671  1873131.714      16.5      6.4  ...   \n",
       "165002  376.649614  6451351.221  1873129.677      16.5      6.4  ...   \n",
       "165003  379.999326  6451353.771  1873127.640      16.5      6.4  ...   \n",
       "165004  383.331093  6451356.321  1873125.603      16.5      6.4  ...   \n",
       "\n",
       "           v_Acc  Lane_ID  Preceeding  Following  Space_Hdwy  Time_Hdwy  \\\n",
       "238    -1.669198        5           1         16       82.43       2.75   \n",
       "239    -1.751698        5           1         16       81.98       2.74   \n",
       "240    -1.831329        5           1         16       81.45       2.76   \n",
       "241    -1.872445        5           1         16       80.95       2.81   \n",
       "242    -1.839746        5           1         16       80.55       2.89   \n",
       "...          ...      ...         ...        ...         ...        ...   \n",
       "165000 -2.247724        2        1928       1939       41.10       1.26   \n",
       "165001 -2.080567        2        1928       1939       40.86       1.26   \n",
       "165002 -1.942366        2        1928       1939       40.62       1.25   \n",
       "165003 -1.840038        2        1928       1939       40.37       1.24   \n",
       "165004 -1.778293        1        1909       1917       28.63       0.88   \n",
       "\n",
       "            x   x_a         y        y_v  \n",
       "238    -0.069 -0.69  2.926326  29.263260  \n",
       "239    -0.068 -0.68  2.910523  29.105229  \n",
       "240    -0.074 -0.74  2.893887  28.938867  \n",
       "241    -0.029 -0.29  2.876387  28.763871  \n",
       "242    -0.024 -0.24  2.858410  28.584104  \n",
       "...       ...   ...       ...        ...  \n",
       "165000 -0.302 -3.02  3.411126  34.111262  \n",
       "165001 -0.332 -3.32  3.389018  33.890178  \n",
       "165002 -0.307 -3.07  3.368645  33.686446  \n",
       "165003 -0.308 -3.08  3.349713  33.497126  \n",
       "165004 -0.307 -3.07  3.331766  33.317664  \n",
       "\n",
       "[13653 rows x 22 columns]"
      ]
     },
     "execution_count": 62,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CL_train40_csv=CL_train_csv.loc[change_vehicle_row40]\n",
    "CL_train40_csv.to_csv(\"./data/CL_train41.csv\",index=False)\n",
    "CL_train40_csv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "id": "87b72ebb-339d-4b9e-a952-0a8db7584724",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "333.0"
      ]
     },
     "execution_count": 63,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(CL_train40_csv)/41"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 82,
   "id": "2df23967-1c00-43a1-a796-4da45b1e36ba",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "247"
      ]
     },
     "execution_count": 82,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "CL_train40_csv['Vehicle_ID'].nunique()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "id": "5d47d4cd-81c4-436c-8b74-4ecb4b284ae2",
   "metadata": {},
   "outputs": [
    {
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      ]
     },
     "execution_count": 64,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "train_ID=LK_train+CL_train\n",
    "train_ID"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "id": "b1843c95-2413-41f9-82cd-8143f5a48902",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Vehicle_ID</th>\n",
       "      <th>Frame_ID</th>\n",
       "      <th>Total_Frames</th>\n",
       "      <th>Global_Time</th>\n",
       "      <th>Local_X</th>\n",
       "      <th>Local_Y</th>\n",
       "      <th>Global_X</th>\n",
       "      <th>Global_Y</th>\n",
       "      <th>v_Length</th>\n",
       "      <th>v_Width</th>\n",
       "      <th>...</th>\n",
       "      <th>Lane_ID</th>\n",
       "      <th>Preceeding</th>\n",
       "      <th>Following</th>\n",
       "      <th>Space_Hdwy</th>\n",
       "      <th>Time_Hdwy</th>\n",
       "      <th>x</th>\n",
       "      <th>x_a</th>\n",
       "      <th>y</th>\n",
       "      <th>y_v</th>\n",
       "      <th>label</th>\n",
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       "      <td>79.779000</td>\n",
       "      <td>6451132.879</td>\n",
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       "      <td>16.5</td>\n",
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       "      <td>0.00</td>\n",
       "      <td>0.00</td>\n",
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       "      <td>-0.06</td>\n",
       "      <td>1.000000</td>\n",
       "      <td>10.000000</td>\n",
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       "      <th>1</th>\n",
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       "      <td>661</td>\n",
       "      <td>1118847863100</td>\n",
       "      <td>26.569</td>\n",
       "      <td>80.778816</td>\n",
       "      <td>6451133.551</td>\n",
       "      <td>1873334.399</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
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       "      <td>9.998159</td>\n",
       "      <td>1</td>\n",
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       "      <th>2</th>\n",
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       "      <td>212</td>\n",
       "      <td>661</td>\n",
       "      <td>1118847863200</td>\n",
       "      <td>26.563</td>\n",
       "      <td>81.876979</td>\n",
       "      <td>6451134.223</td>\n",
       "      <td>1873333.659</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
       "      <td>...</td>\n",
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       "      <td>0</td>\n",
       "      <td>0</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.00</td>\n",
       "      <td>-0.006</td>\n",
       "      <td>-0.06</td>\n",
       "      <td>1.098163</td>\n",
       "      <td>10.981631</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>3</td>\n",
       "      <td>213</td>\n",
       "      <td>661</td>\n",
       "      <td>1118847863300</td>\n",
       "      <td>26.558</td>\n",
       "      <td>83.114052</td>\n",
       "      <td>6451134.895</td>\n",
       "      <td>1873332.919</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
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       "      <td>3</td>\n",
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       "      <td>1.237073</td>\n",
       "      <td>12.370731</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>3</td>\n",
       "      <td>214</td>\n",
       "      <td>661</td>\n",
       "      <td>1118847863400</td>\n",
       "      <td>26.597</td>\n",
       "      <td>84.457421</td>\n",
       "      <td>6451135.652</td>\n",
       "      <td>1873332.018</td>\n",
       "      <td>16.5</td>\n",
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       "      <td>0</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.00</td>\n",
       "      <td>0.039</td>\n",
       "      <td>0.39</td>\n",
       "      <td>1.343369</td>\n",
       "      <td>13.433692</td>\n",
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       "      <th>380507</th>\n",
       "      <td>1914</td>\n",
       "      <td>7369</td>\n",
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       "      <td>16.5</td>\n",
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       "      <td>1909</td>\n",
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       "      <td>0.09</td>\n",
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       "      <td>14.951429</td>\n",
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       "      <th>380508</th>\n",
       "      <td>1914</td>\n",
       "      <td>7370</td>\n",
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       "      <td>1118848579000</td>\n",
       "      <td>6.763</td>\n",
       "      <td>951.082391</td>\n",
       "      <td>6451782.284</td>\n",
       "      <td>1872751.189</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
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       "      <td>1909</td>\n",
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       "      <td>0.12</td>\n",
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       "    <tr>\n",
       "      <th>380509</th>\n",
       "      <td>1914</td>\n",
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       "      <th>380510</th>\n",
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       "      <td>6.789</td>\n",
       "      <td>954.071356</td>\n",
       "      <td>6451784.531</td>\n",
       "      <td>1872749.202</td>\n",
       "      <td>16.5</td>\n",
       "      <td>6.4</td>\n",
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       "      <td>34.66</td>\n",
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       "      <td>1914</td>\n",
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       "      <td>6451785.655</td>\n",
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       "      <td>16.5</td>\n",
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       "      <td>1909</td>\n",
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       "      <td>0.12</td>\n",
       "      <td>1.500644</td>\n",
       "      <td>15.006441</td>\n",
       "      <td>1</td>\n",
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       "</table>\n",
       "<p>380512 rows × 23 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "        Vehicle_ID  Frame_ID  Total_Frames    Global_Time  Local_X  \\\n",
       "0                3       210           661  1118847863000   26.573   \n",
       "1                3       211           661  1118847863100   26.569   \n",
       "2                3       212           661  1118847863200   26.563   \n",
       "3                3       213           661  1118847863300   26.558   \n",
       "4                3       214           661  1118847863400   26.597   \n",
       "...            ...       ...           ...            ...      ...   \n",
       "380507        1914      7369           923  1118848578900    6.751   \n",
       "380508        1914      7370           923  1118848579000    6.763   \n",
       "380509        1914      7371           923  1118848579100    6.777   \n",
       "380510        1914      7372           923  1118848579200    6.789   \n",
       "380511        1914      7373           923  1118848579300    6.801   \n",
       "\n",
       "           Local_Y     Global_X     Global_Y  v_Length  v_Width  ...  Lane_ID  \\\n",
       "0        79.779000  6451132.879  1873335.140      16.5      6.4  ...        3   \n",
       "1        80.778816  6451133.551  1873334.399      16.5      6.4  ...        3   \n",
       "2        81.876979  6451134.223  1873333.659      16.5      6.4  ...        3   \n",
       "3        83.114052  6451134.895  1873332.919      16.5      6.4  ...        3   \n",
       "4        84.457421  6451135.652  1873332.018      16.5      6.4  ...        3   \n",
       "...            ...          ...          ...       ...      ...  ...      ...   \n",
       "380507  949.589384  6451781.160  1872752.182      16.5      6.4  ...        1   \n",
       "380508  951.082391  6451782.284  1872751.189      16.5      6.4  ...        1   \n",
       "380509  952.573760  6451783.407  1872750.195      16.5      6.4  ...        1   \n",
       "380510  954.071356  6451784.531  1872749.202      16.5      6.4  ...        1   \n",
       "380511  955.572000  6451785.655  1872748.209      16.5      6.4  ...        1   \n",
       "\n",
       "        Preceeding  Following  Space_Hdwy  Time_Hdwy      x   x_a         y  \\\n",
       "0                0          0        0.00       0.00 -0.006 -0.06  1.000000   \n",
       "1                0          0        0.00       0.00 -0.004 -0.04  0.999816   \n",
       "2                0          0        0.00       0.00 -0.006 -0.06  1.098163   \n",
       "3                0          0        0.00       0.00 -0.005 -0.05  1.237073   \n",
       "4                0          0        0.00       0.00  0.039  0.39  1.343369   \n",
       "...            ...        ...         ...        ...    ...   ...       ...   \n",
       "380507        1909       1917       35.13       2.36  0.009  0.09  1.495143   \n",
       "380508        1909       1917       34.97       2.34  0.012  0.12  1.493007   \n",
       "380509        1909       1917       34.82       2.32  0.014  0.14  1.491369   \n",
       "380510        1909       1917       34.66       2.31  0.012  0.12  1.497596   \n",
       "380511        1909       1917       34.49       2.30  0.012  0.12  1.500644   \n",
       "\n",
       "              y_v  label  \n",
       "0       10.000000      1  \n",
       "1        9.998159      1  \n",
       "2       10.981631      1  \n",
       "3       12.370731      1  \n",
       "4       13.433692      1  \n",
       "...           ...    ...  \n",
       "380507  14.951429      1  \n",
       "380508  14.930065      1  \n",
       "380509  14.913686      1  \n",
       "380510  14.975964      1  \n",
       "380511  15.006441      1  \n",
       "\n",
       "[380512 rows x 23 columns]"
      ]
     },
     "execution_count": 65,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "train_csv=f[f.Vehicle_ID.isin(train_ID)]\n",
    "train_csv=train_csv.reset_index(drop=True)\n",
    "train_csv['label']=1\n",
    "train_csv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "ba65358e-e5c5-461d-af43-10e3f16f6727",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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